Open WwYyFan opened 5 years ago
With CloudSamples
, you can provide a set of samples with (x,y,z) coordinates at which grasps should be searched.
With CloudIndexed
, you can provide a set of indices into the point cloud at which grasps should be searched.
If I understand you correctly, you want to write a (ROS) node that takes in a point cloud, creates one of the above messages based on the point cloud and the detection range, and sends it to GPD.
@atenpas Thanks for your reply! I mean this. but I am new to ROS,Do you have a tutorial on this?
@atenpas Another question is I put some things on the ground, but it is difficult to identify their gripping position.Is there a requirement for an object that can be detected?
Yes, check out Tutorial 2.
No, the algorithm does not detect objects. You should be able to find grasps for objects on the ground - no matter if they're on the ground, on top of a table, or inside a shelf (to give you some examples).
Hello, @atenpas I have been using gpd ros to get grasp from a point cloud with the graps_cmd_topic '/get_grasps/'. Now I have another script for object detection, giving the center of the detected object, and I would like to pass these coordinates to a CloudSamples to only grasp this object. But I don't really understand how to send these coordinates, do I have to change something in the code, in the topics ? could you help me please ? thank you very much in advance :)
Hello, @atenpas I'm currently using a RealSense D435i camera and have run tutorial 2 . I can't find the /cloud_indexed topic. If I want to use grasp pose for UR5, is it possible?
Hi,I want to set a detection range,but I don't konw how to do it,Does anyone know what to do?