Grasp Planner Message Definitions

Package Subcriber

You are able to use any perception package to work with the grasp planner, as long as it follows the message type definitions below. The grasp planner ROS2 subscriber subscribes to the topic /processor/epd_localize_output of message type EPDObjectLocalization.msg , so make sure that your perception package publishes to a topic in that format. For convenience, you can use the easy_perception_deployment package which follows this convention.

Topic Name : /processor/epd_localize_output

Message Name: EPDObjectLocalization.msg

Message name	Field Type	Explanation
header	std_msgs/Header	General information from the camera
objects	LocalizedObject[]	Information about the object (refer below to the LocalizedObject message type.
frame_width	uint32	Width of the depth image
frame_height	uint32	Height of the depth image
depth_image	sensor_msgs/Image	Depth image of the work area
camera_info	sensor_msgs/CameraInfo	Camera-specific information
roi_array	sensor_msgs/RegionOfInterest[]	Array of bounding boxes containing the objects

Message Name: LocalizedObject.msg

Message name | Field Type | Explanation
name	string		Name of object
pos	geometry_msgs/PoseStamped		Pose of object
roi	sensor_msgs/RegionOfInterest		Bounding Box for the object
breadth	float64		Real object breadth
length	float64		Real object breadth
height	float64		Real object height

Package Publisher

This package consists of a publisher that publishes to the following topic with the message structure shown

Topic Name : /grasp_poses

Message Name: GraspPose.msg

Message name	Field Type	Explanation
num_objects	uint32	Number of grasp objects in the scene
grasp_poses	geometry_msgs/PoseStamped[]	Array of grasp object poses
object_poses	geometry_msgs/PoseStamped[]	Array of grasp poses
object_shapes	shape_msgs/SolidPrimitive[]	Array of object shapes (Used to create collision objects for path planning)