panda_autograsp_serverΒΆ
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.