About | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Documentation

This package provides various nodes to run the BipedRobin coffee butler demo, in which the Robot uses a Microsoft Kinect to detect and throw away cups.

Nodes

coffee_butler

Controls the execution of the different Services between the biped_robin_coffee_butler and biped_robin_object_manipulator nodes

Published Topics

chatter_pub (invalid message type for MsgLink(msg/type))

• Publishes strings for speech_database voice output.

Services

pickup_cylinder (biped_robin_msgs/PickupObjectService)

• Calls service from biped_robin_object_manipulator to pickup the cup which is positioned the cylinder_center frame published by the pcl_cylinder node.

place_cylinder (biped_robin_msgs/PickupObjectService)

• Calls service from biped_robin_object_manipulator to place the cup in the bin_frame.

Services Called

start_detecting_client (std_srvs/Empty)

• Starts the object detection in the pcl_cylinder node.

stop_detecting_client (std_srvs/Empty)

• Stops the object detection in the pcl_cylinder node.

pcl_cylinder

Node to detect cylinders in Kinect point_cloud, creates tf::transform with the cylinder center as origin.

Subscribed Topics

cloud_throttled (sensor_msgs/PointCloud2)

• Subscribes to the Kinect point cloud.

Published Topics

filter_cloud (sensor_msgs/PointCloud2)

• Publishes the filtered segment of the Kinect point cloud (only the table).

plane_cloud (sensor_msgs/PointCloud2)

• Publishes the detected table plane of the Kinect point cloud.

cylinder_cloud (sensor_msgs/PointCloud2)

• Publishes the detected cylinder of the Kinect point cloud.

Services

start_detecting_srv (std_srvs/Empty)

• Starts the detection of the cylinder detection.

stop_detecting_srv (std_srvs/Empty)

• Stops the detection of the cylinder detection.