panda_autograsp_server module

This is the main node of the panda_autograsp autonomous grasping solution. This node is responsible for the communication between the panda_autograsp_cli command line interface (CLI) and the other components of the panda_autograsp solution. It sets up a number of services which can be called from the panda_autograsp_cli script. It uses the PandaAutograspServer to do this. The services that are set up by the panda_autograsp_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.