grasping_msgs¶

Message types¶

• grasping_msgs/GraspableObject
• grasping_msgs/Object
• grasping_msgs/ObjectProperty

grasping_msgs/GraspableObject¶

Field:	object (grasping_msgs/Object) – grasps[] (moveit_msgs/Grasp) –

This message describes an object + grasp data

###########################################################
# This message describes an object + grasp data
Object object
moveit_msgs/Grasp[] grasps

grasping_msgs/Object¶

Field:	header (std_msgs/Header) – name (string) – support_surface (string) – properties[] (grasping_msgs/ObjectProperty) – point_cluster (sensor_msgs/PointCloud2) – primitives[] (shape_msgs/SolidPrimitive) – primitive_poses[] (geometry_msgs/Pose) – meshes[] (shape_msgs/Mesh) – mesh_poses[] (geometry_msgs/Pose) – surface (shape_msgs/Plane) –

This message describes an object.

Many of the geometric items below lack a stamp/frame_id, header stamp/frame_id should be used there

###########################################################
# This message describes an object.

# Many of the geometric items below lack a stamp/frame_id,
# header stamp/frame_id should be used there
std_msgs/Header header

# An object might have a name
string name

# An object might have a known (named) support surface
string support_surface

# Objects might have properties, such as type/class, or color, etc.
ObjectProperty[] properties

###########################################################
# Objects have many possible descriptions
#  The following are the possible description formats

# Perception modules often represent an object as a cluster of points
#  Is considered valid if number of points > 0
sensor_msgs/PointCloud2 point_cluster

# MoveIt prefers solid primitives or meshes as a description of objects
shape_msgs/SolidPrimitive[] primitives
geometry_msgs/Pose[] primitive_poses

shape_msgs/Mesh[] meshes
geometry_msgs/Pose[] mesh_poses

# An object representing a support surface might be described by a plane
# Is considered valid if coefficients are not all 0s.
shape_msgs/Plane surface

grasping_msgs/ObjectProperty¶

Field:	name (string) – value (string) –

Other generic properties of an object

###########################################################
# Other generic properties of an object
string name
string value

Action types¶

• grasping_msgs/FindGraspableObjects
• grasping_msgs/GraspPlanning

grasping_msgs/FindGraspableObjects¶

Field (Goal):	plan_grasps (bool) –
Field (Result):	objects[] (grasping_msgs/GraspableObject) – support_surfaces[] (grasping_msgs/Object) –
Field (Feedback):
	object (grasping_msgs/GraspableObject) –

This action is called for integrated object detection and

grasp planning, such as in base_grasping_perception

Set to false to disable grasp planning, returning only the objects found

###########################################################
# This action is called for integrated object detection and
#  grasp planning, such as in base_grasping_perception

# Set to false to disable grasp planning, returning only the objects found
bool plan_grasps
---
# Graspable objects found
GraspableObject[] objects

# Additional, non-graspable objects which may be support surfaces
Object[] support_surfaces
---
# Publish objects as they are detected and grasp planned
GraspableObject object

grasping_msgs/GraspPlanning¶

Field (Goal):	object (grasping_msgs/Object) – group_name (string) –
Field (Result):	grasps[] (moveit_msgs/Grasp) –
Field (Feedback):
	grasps[] (moveit_msgs/Grasp) –

This action is used when planning grasps for a single,

already known object, one object at a time.

Object for which grasp planning is requested

###########################################################
# This action is used when planning grasps for a single,
#  already known object, one object at a time.

# Object for which grasp planning is requested
Object object

# Name of group to plan with (optional)
string group_name
---
# All grasps
moveit_msgs/Grasp[] grasps
---
# Grasps found thus far
moveit_msgs/Grasp[] grasps