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Request Reposition Poses

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aurone edited this page Sep 27, 2017 · 2 revisions

Sending Reposition Commands

Action Interface

The state machine communicates with the reposition planner over an action interface defined by the RepositionBaseCommand action specification in rcta_msgs.

GraspingCommandPanel

TODO

Visualizations

  • base_probable_candidates - 3d visualization of all candidates returned by the reposition planner
  • candidate_footprints - 2d visualization of all candidates returned by the reposition planner
  • footprint_polygon_collisions - 2d visualization of candidates rejected due to definite collision with the environment
  • base_pose_candidate - visualization of the current selected base pose candidate returned by the reposition planner. This one actually comes from the GraspingCommandPanel.
  • base_candidates_seen - visualizations related to the exhaustive search performed when the robot cannot be positioned on the left side of the gascan
  • candidate_arm_collisions - visualizations related to the exhaustive search performed when the robot cannot be positioned on the left side of the gascan
  • grasp_candidates_checkIKPLAN - visualizations related to the exhaustive search performed when the robot cannot be positioned on the left side of the gascan
  • grasp_candidates_checkIKPLAN_filtered - visualizations related to the exhaustive search performed when the robot cannot be positioned on the left side of the gascan

Troubleshooting

TODO

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