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About

The rail_segmentation package provides tabletop segmentation functionality given a point cloud. It also allows for segmentation within a robot's coordinate frame, so that objects stored on a robot's platform can be segmented.

Newly proposed, mistyped, or obsolete package. Could not find package "rail_segmentation" in rosdoc: /home/rosbot/docs/api/rail_segmentation/manifest.yaml

Nodes

rail_segmentation

'rail_segmentation' provides tabletop object segmentation for handheld objects, as well as segmentation within a robot's coordinate frame for detecting objects stored on a robot itself.

Subscribed Topics

point_cloud_topic parameter (sensor_msgs/PointCloud2)

• Incoming point cloud data.

Published Topics

rail_segmentation/segmented_objects (rail_manipulation_msgs/SegmentedObjectList)

• Segmented point clouds for handheld objects.

rail_segmentation/markers (visualization_msgs/MarkerArray)

• Visualization markers corresponding to the segmented objects.

rail_segmentation/debug_pc (sensor_msgs/PointCloud2)

• Point cloud publisher for debugging, only used if the debug parameter is set to true.

rail_segmentation/debug_img (sensor_msgs/Image)

• Image publisher for debugging, only used if the debug parameter is set to true.

Services

rail_segmentation/segment (std_srvs/Empty)

• Segmentation that will automatically determine a segmentation zone (coordinate frame and bounding volume) as defined by the zones.yaml config file.

rail_segmentation/clear (std_srvs/Empty)

• Clear all segmented objects from the segmented object list.

rail_segmentation/remove_object (rail_segmentation/RemoveObject)

• Remove an object from the segmented object list at a given index.

Parameters

debug (bool, default: false)

• Flag to publish debugging information.

point_cloud_topic (string, default: "/camera/depth_registered/points")

• ROS topic name for incoming point cloud data.

mapping_config (string, default: "<path to rail_segmentation>/config/zones.yaml")

• Location of the config file defining segmentation zones.

Installation

To install the rail_segmentation package, you can install from source with the following commands:

•    1 cd /(your catkin workspace)/src
     2 git clone https://github.com/WPI-RAIL/rail_segmentation.git
     3 cd ..
     4 catkin_make
     5 catkin_make install
  

Defining Segmentation Zones

Segmentation zones can be defined in yaml config files, an example of which can be found in the config directory. The zones.yaml file defines a segmentation zone that will segment objects on horizontal surfaces anywhere above the level of the floor.

The fields for defining a zone are as follows:

Required fields:

• name - (string) the name of the zone
• parent_frame_id - (string) parent frame for calculating the roll, pitch, and yaw of the camera
• child_frame_id - (string) child frame for calculating the roll, pitch, and yaw of the camera
• bounding_frame_id - (string) the coordinate frame in which the segmentation bounding volume is defined
• segmentation_frame_id - (string) the coordinate frame in which objects should be segmented

Optional fields:

• remove_surface - (bool) flag for surface removal, set to true if segmentation surfaces should be detected and removed, false if segmentation should be bounded only by the bounding volume.
• roll_min - (double) lower bound on camera roll for this zone to be used, calculated ass the roll from the parent_frame_id to the child_frame_id
• roll_max - (double) upper bound on camera roll
• pitch_min - (double) lower bound on camera pitch
• pitch_max - (double) upper bound on camera pitch
• yaw_min - (double) lower bound on camera yaw
• yaw_max - (double) upper bound on camera yaw
• x_min - lower x bound defining the bounding volume
• x_max - upper x bound defining the bounding volume
• y_min - lower y bound defining the bounding volume
• y_max - upper y bound defining the bounding volume
• z_min - lower z bound defining the bounding volume
• z_max - upper z bound defining the bounding volume

Startup

The rail_segmentation package can be launched by running the rail_segmentation node:

• rosrun rail_segmentation rail_segmentation