grasp_planner_server module

This node set up a number of grasp computation services. These services can be used used to compute a grasp pose out of RBG-D image data. It uses the GraspPlannerROS class to do this. The services that are set up by the grasp_planner_server node are listed below:

Services:

• gqcnn_grasp_planner: Computes a grasp pose out of RGB-D images.
• gqcnn_grasp_planner_bounding_box: Also computes the grasp but allows you to supply a bounding box.
• gqcnn_grasp_planner_segmask: Also computes the grasp but allows you to supply a segmask.