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atenpas / gpd

Detect 6-DOF grasp poses in point clouds
BSD 2-Clause "Simplified" License
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How to use CloudSample ro tell GPD where to search for grasps? #57

Open WwYyFan opened 5 years ago

WwYyFan commented 5 years ago

Hi,I want to set a detection range，but I don't konw how to do it,Does anyone know what to do?

atenpas commented 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.

WwYyFan commented 5 years ago

@atenpas Thanks for your reply! I mean this. but I am new to ROS,Do you have a tutorial on this?

WwYyFan commented 5 years ago

@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?

2018-10-31 10-31-36

atenpas commented 5 years ago

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).

camilledrone commented 1 year ago

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 :)

inputx0511 commented 9 months ago

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?