Only released in EOL distros:  

chair_grasping: chair_recognition | estimate_grasp_positions | grasp_motion

Package Summary

Estimation of the grasp_Positions for the PR2 by reducing the pointcloud with the PassThrough filter.

Package Overview

In this package we estimate the grasp position for the robot.
Therefore we assume that there is a PointCloud which describe the recognized object.
We filter these PointCloud with a PassThrough filter.
Here you get more informations about the PassThroughfilter
Then extract the leftest and rightest point from the filtered_cloud as grasp_points for the PR2.
Publish these two points and for visualization on rviz the whole filtered_cloud.


For information on how to use estimate_grasp_positions, read the "How does it work" section of the chair_grasping page.

Wiki: estimate_grasp_positions (last edited 2012-06-11 06:38:19 by JanMetzger)