rail_manipulation_msgs¶

Message types¶

• rail_manipulation_msgs/SegmentedObject
• rail_manipulation_msgs/SegmentedObjectList
• rail_manipulation_msgs/Grasp

rail_manipulation_msgs/SegmentedObject¶

Field:	point_cloud (sensor_msgs/PointCloud2) – image (sensor_msgs/Image) – centroid (geometry_msgs/Point) – center (geometry_msgs/Point) – width (float64) – depth (float64) – height (float64) – orientation (geometry_msgs/Quaternion) – recognized (bool) – name (string) – model_id (uint32) – confidence (float64) – grasps[] (rail_manipulation_msgs/Grasp) – marker (visualization_msgs/Marker) –

sensor_msgs/PointCloud2 point_cloud   # Segmented point cloud
sensor_msgs/Image image               # Segmented RGB image
geometry_msgs/Point centroid          # Centroid of the point cloud
geometry_msgs/Point center            # Center of the point cloud
float64 width                         # The width of the object in meters
float64 depth                         # The depth of the object in meters
float64 height                        # The height of the object in meters
geometry_msgs/Quaternion orientation  # Orientation of the object (typically only known for recognized objects)
bool recognized                       # True if the object is recognized
string name                           # Object name (if recognized)
uint32 model_id                       # Object model ID (if recognized)
float64 confidence                    # Recognition confidence value
Grasp[] grasps                        # List of grasps (if recognized)
visualization_msgs/Marker marker      # The downsampled visualization of the object

rail_manipulation_msgs/SegmentedObjectList¶

Field:	header (std_msgs/Header) – cleared (bool) – objects[] (rail_manipulation_msgs/SegmentedObject) –

Header header              # Contains timestamp information for the most recent update to the object list
bool cleared               # A flag indicating this message is the result of a clear instead of a segment
SegmentedObject[] objects  # The list of segmented objects

rail_manipulation_msgs/Grasp¶

Field:	grasp_pose (geometry_msgs/PoseStamped) – eef_frame_id (string) – successes (uint32) – attempts (uint32) –

geometry_msgs/PoseStamped grasp_pose  # The grasp pose
string eef_frame_id                   # The coordinate frame of the end-effector used by this grasp
uint32 successes                      # The number of recorded times this grasp was successful (useful for success rate)
uint32 attempts                       # The number of recorded times this grasp was attempted (useful for success rate)

Action types¶

• rail_manipulation_msgs/Lift
• rail_manipulation_msgs/RecognizeObject
• rail_manipulation_msgs/Gripper
• rail_manipulation_msgs/VerifyGrasp

rail_manipulation_msgs/Lift¶

Field (Result):	success (bool) –
Field (Feedback):
	message (string) –

# Define the goal
---
# Define the result
bool success    # If the grasp and store was successful
---
# Define a feedback message
string message  # The current state message

rail_manipulation_msgs/RecognizeObject¶

Field (Goal):	object (rail_manipulation_msgs/SegmentedObject) – name (string) –
Field (Result):	object (rail_manipulation_msgs/SegmentedObject) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
SegmentedObject object  # Unrecognized object
string name             # Optional name of the object used to narrow down model candidates
---
# Define the result
SegmentedObject object  # Object with recognized fields filled in if recognized
---
# Define a feedback message
string message          # The current state message

rail_manipulation_msgs/Gripper¶

Field (Goal):	close (bool) –
Field (Result):	success (bool) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
bool close      # True for close gripper, false for open gripper
---
# Define the result
bool success    # If the gripper action was successful
---
# Define a feedback message
string message  # The current state message

rail_manipulation_msgs/VerifyGrasp¶

Field (Result):	success (bool) – grasping (bool) –
Field (Feedback):
	message (string) –

# Define the goal
---
# Define the result
bool success    # If the verify grasp action was successful
bool grasping   # If the gripper is grasping an object (only valid if success is true)
---
# Define a feedback message
string message  # The current state message