moveit_simple_grasps¶

Contents:

Summary
Types
- Message types
- Action types

Summary ¶

moveit_simple_grasps¶

BuildtoolDepends:
Version:	1.3.1
Description:	A basic grasp generator for simple objects such as blocks or cylinders for use with the MoveIt! pick and place pipeline. Does not consider friction cones or other dynamics.
Maintainers:	Dave Coleman <davetcoleman AT gmail DOT com>
Licenses:	BSD
Urls:	website<https://github.com/davetcoleman/moveit_simple_grasps/> bugtracker<https://github.com/davetcoleman/moveit_simple_grasps/issues> repository<https://github.com/davetcoleman/moveit_simple_grasps>
Authors:	Dave Coleman <davetcoleman AT gmail DOT com>
BuildDepends:	`roscpp` `eigen_conversions` `std_msgs` `trajectory_msgs` `tf` `tf_conversions` `moveit_ros_planning` `moveit_ros_planning_interface` `moveit_core` `moveit_visual_tools` `message_generation` `actionlib` `moveit_msgs` `geometry_msgs` `actionlib_msgs` `cmake_modules`
	`catkin`
BuildExportDepends:
	`std_msgs` `trajectory_msgs` `moveit_msgs` `geometry_msgs` `actionlib_msgs` `message_runtime` `moveit_visual_tools`
ExecDepends:	`std_msgs` `trajectory_msgs` `moveit_msgs` `geometry_msgs` `actionlib_msgs` `message_runtime` `moveit_visual_tools`

Types ¶

Message types ¶

moveit_simple_grasps/GraspGeneratorOptions

moveit_simple_grasps/GraspGeneratorOptions¶

Field:	grasp_axis (uint8) – grasp_direction (uint8) – grasp_rotation (uint8) –
Constant:	GRASP_AXIS_X (uint8):`0` – GRASP_AXIS_Y (uint8):`1` – GRASP_AXIS_Z (uint8):`2` – GRASP_DIRECTION_UP (uint8):`0` – GRASP_DIRECTION_DOWN (uint8):`1` – GRASP_ROTATION_HALF (uint8):`0` – GRASP_ROTATION_FULL (uint8):`1` –

uint8 grasp_axis
uint8 GRASP_AXIS_X = 0
uint8 GRASP_AXIS_Y = 1
uint8 GRASP_AXIS_Z = 2

uint8 grasp_direction
uint8 GRASP_DIRECTION_UP = 0
uint8 GRASP_DIRECTION_DOWN = 1

uint8 grasp_rotation
uint8 GRASP_ROTATION_HALF = 0
uint8 GRASP_ROTATION_FULL = 1

Action types ¶

moveit_simple_grasps/GenerateGrasps

moveit_simple_grasps/GenerateGrasps¶

Field (Feedback):
Field (Goal):	pose (geometry_msgs/Pose) – width (float64) – options[] (moveit_simple_grasps/GraspGeneratorOptions) –
Field (Result):	grasps[] (moveit_msgs/Grasp) –
	grasps[] (moveit_msgs/Grasp) –

goal

#goal
geometry_msgs/Pose pose
float64 width
moveit_simple_grasps/GraspGeneratorOptions[] options
---
#result
moveit_msgs/Grasp[] grasps
---
#feedback
moveit_msgs/Grasp[] grasps