search

IntelligentRoboticsLabs / gb_visual_detection_3d

88 stars 32 forks source link

3d coordinates to control robotic arm #40

Open hsaleem1 opened 3 years ago

hsaleem1 commented 3 years ago

Hi there, Is it possible to transfer the 3d coordinates from this package to control the robotic arm for pick and place purpose?

Anybody please guide me @fgonzalezr1998.

Thanks for the help.

fgonzalezr1998 commented 3 years ago

@hsaleem1 Of course! Having the 3d bounding box, you can know the coordinate of the centre and it scale.

I have not worked with robotics arms but one thing its clear: If you hace a robotic arm, it will be publish its own TF's. So, when you have calculated the needed coordinates, you must convert it to the frame that corresponds before to send it to the arm for move it.

hsaleem1 commented 3 years ago

@fgonzalezr1998, thanks for the reply. I will follow your instructions.

hsaleem1 commented 3 years ago

Hi @fgonzalezr1998 ,

I am getting the 3d coordinates by publishing the messages through rostopic echo. Can you please guide me that how I can subscribe these coordinates into another package?

hsaleem1 commented 3 years ago

@fgonzalezr1998 , any response regarding the previous question please?

fgonzalezr1998 commented 3 years ago

Yes. Sorry for the late response. You have to do a ROS package with a subscriber node (using c++ or python). In the ROS Wiki you will find examples @hsaleem1 You can reply here with your doubts about the node creation

karhong-sam commented 3 years ago

Hi @fgonzalezr1998, I also have the similar concern regarding to the coordinates of object. I'm not sure how the solution works from the previous post. Can I use lookup transform by using the frame from bounding box topic? If not, any suggestion on that so I can convert the coordinates information to the TF?