Detect Box Pick Point¶
The coordinate frame of the box’s pick can be requested from a ros service that detects it by processing the sensor data. In this exercise, we will learn how to use a service client to call that ros service for the box pick pose.
- In the main program, locate the function call to
- Go to the source file of that function by clicking in any part of the function and pressing “F2”.
- Remove the first line containing the following
ROS_ERROR_STREAM ...so that the program runs.
- Find every line that begins with the comment
Fill Code:and read the description. Then, replace every instance of the comment
ENTER CODE HEREwith the appropriate line of code
/* Fill Code: . . . */ /* ======== ENTER CODE HERE ======== */
target_recognition_clientobject in your programs can use the
call()method to send a request to a ros service.
- The ros service that receives the call will process the sensor data and return the pose for the box pick in the service structure member
Build Code and Run¶
- Compile the pick and place node:
- in QTCreator:
Build -> Build Project
- Alternatively, in a terminal:
- in QTCreator:
catkin build --pkg collision_avoidance_pick_and_place
- Run your node with the launch file:
roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
- A blue box and voxel grid obstacles will be displayed in rviz. In the terminal you should see a message like the following:
[ INFO] [1400554224.057842127]: Move wait Succeeded [ INFO] [1400554224.311158465]: Gripper opened [ INFO] [1400554224.648747043]: target recognition succeeded [ERROR] [1400554224.649055043]: create_pick_moves is not implemented yet. Aborting.