panda_autograsp.grasp_planners.gqcnn_grasp_planner_ros

This is the ROS version of the gqcnn_grap_planner module. This module uses the BerkleyAutomation GQCNN grasp detector to compute a valid grasp out of RBG-D sensor data.

Classes

GraspPlannerROS(cfg, cv_bridge, …) Class used to compute the grasp pose out of the RGB-D data.
class panda_autograsp.grasp_planners.gqcnn_grasp_planner_ros.GraspPlannerROS(cfg, cv_bridge, grasping_policy, grasp_pose_publisher)[source]

Class used to compute the grasp pose out of the RGB-D data.

cfg

The grasp yaml configuration file.

Type:YamlConfig
grasping_policy

The grasp policy.

Type:CrossEntropyRobustGraspingPolicy
min_width

The minimum allowed image width.

Type:int
min_height

The minimum allowed image height.

Type:int
__init__(cfg, cv_bridge, grasping_policy, grasp_pose_publisher)[source]
Parameters:
  • cfg (dict) – Dictionary of configuration parameters.
  • cv_bridge (CvBridge) – ROS CvBridge.
  • grasping_policy (GraspingPolicy) – Grasping policy to use.
  • grasp_pose_publisher (Publisher) –
read_images(req)[source]

Retrieves the input images from a ROS service request.

Parameters:req (ROS ServiceRequest) – ROS ServiceRequest for grasp planner service.
plan_grasp(req)[source]

Grasp planner request handler.

Parameters:req (ROS ServiceRequest) – ROS ServiceRequest for grasp planner service.
plan_grasp_bb(req)[source]

Grasp planner request handler.

Parameters:req (ROS ServiceRequest) – ROS ServiceRequest for grasp planner service.
plan_grasp_segmask(req)[source]

Grasp planner request handler.

Parameters:req (ROS ServiceRequest) – ROS ServiceRequest for grasp planner service.
execute_policy(rgbd_image_state, grasping_policy, grasp_pose_publisher, pose_frame)[source]

Executes a grasping policy on an RgbdImageState.

Parameters:
  • rgbd_image_state (RgbdImageState) – RgbdImageState from BerkeleyAutomation/perception to encapsulate depth and color image along with camera intrinsics.
  • grasping_policy (GraspingPolicy) – Grasping policy to use.
  • grasp_pose_publisher (Publisher) – ROS publisher to publish pose of planned grasp for visualization.
  • pose_frame (str) – Frame of reference to publish pose in.