Running the Grasp Planner

To run the grasp planner:

ros2 run grasp_planning grasp_planning_node

The package will then show the following when waiting for the perception topic

[easy_manipulation_deployment][Grasp Planner] Waiting for topic....

Example Grasp Planning Output:

Finger gripper:

[easy_manipulation_deployment][Grasp Planner] Waiting for topic....
[easy_manipulation_deployment][Grasp Planner] Objects Detected!
[easy_manipulation_deployment][Grasp Planner] Gripper Type Detected: finger
[easy_manipulation_deployment][Grasp Planner] Generating Finger grasps
[easy_manipulation_deployment][Grasp Planner] Number of Grasp Samples: 15
[easy_manipulation_deployment][Grasp Planner] Best Grasp found! GDI Score: 2941
[easy_manipulation_deployment][Grasp Planner] Generate Result Files...
[easy_manipulation_deployment][Grasp Planner] Time elapsed(ms): 445

Suction gripper:

[easy_manipulation_deployment][Grasp Planner] Waiting for topic....
[easy_manipulation_deployment][Grasp Planner] Objects Detected!
[easy_manipulation_deployment][Grasp Planner] Gripper Type Detected: suction
[easy_manipulation_deployment][Grasp Planner] Generating Suction Cup grasps
[easy_manipulation_deployment][Grasp Planner] Best Grasp found! GDI Score: 226
[easy_manipulation_deployment][Grasp Planner] Generate Result Files...
[easy_manipulation_deployment][Grasp Planner] Time elapsed(ms): 802