reposition_planner_node

reposition_planner_node

Overview

reposition_planner_node implements the Reposition Planner as a ROS Node.

Static Parameters

• Required by robot_model_loader::RobotModelLoader
  • robot_description (string)
  • robot_description_semantic (string)
• ~tracked_marker_id (int)
• ~tracked_marker_attached_link (string)
• ~marker_to_link_x (double)
• ~marker_to_link_y (double)
• ~marker_to_link_z (double)
• ~marker_to_link_roll_deg (double)
• ~marker_to_link_pitch_deg (double)
• ~marker_to_link_yaw_deg (double)
• ~manipulator_group_name (string)
• ~footprint (geometry_msgs/Point[])
• ~base_front_offset_x (double)
• ~arm_front_offset_x (double)
• ~arm_front_offset_y (double)
• ~arm_length (double)
• ~arm_length_core (double)
• ~body_length (double)
• ~body_length_core (double)
• ~sampling/dist_min (double)
• ~sampling/dist_step (double)
• ~sampling/dist_count (int)
• ~sampling/ang_min (double)
• ~sampling/ang_step (double)
• ~sampling/ang_count (int)
• ~sampling/yaw_min (double)
• ~sampling/yaw_step (double)
• ~sampling/yaw_count (int)
• ~exhaustive_sampling/dist_min (double)
• ~exhaustive_sampling/dist_step (double)
• ~exhaustive_sampling/dist_count (int)
• ~exhaustive_sampling/ang_min (double)
• ~exhaustive_sampling/ang_step (double)
• ~exhaustive_sampling/ang_count (int)
• ~exhaustive_sampling/yaw_min (double)
• ~exhaustive_sampling/yaw_step (double)
• ~exhaustive_sampling/yaw_count (int)
• ~grasping/best_dist (double)
• ~exhaustive_grasping/best_dist (double)
• ~candidate_frame (int)
• ~max_grasp_candidates (int)
• Required by rcta::GascanGraspPlanner
  • grasping/gas_canister_mesh_scale (double)
  • grasping/degree (int)
  • grasping/control_points (geometry_msgs/Point[])
  • grasping/wrist_to_tool_transform (geometry_msgs/Pose)
  • grasping/pregrasp_to_grasp_offset_m (double)

Subscribed Topics

• joint_states (sensor_msgs/JointState)
• tf (tf/tfMessage)

Published Topics

• visualization_markers (visualization_msgs/MarkerArray)
• ~/"pgrasp_map" (nav_msgs/OccupancyGrid)
• ~/"pobs_map" (nav_msgs/OccupancyGrid)
• ~/"pgrasp_exhaustive_map" (nav_msgs/OccupancyGrid)

Required Transforms

• "map" -> root frame

Required Actions

• "move_arm" (rcta/MoveArmAction)

Provided Actions

• "reposition_base_command" (rcta_msgs/RepositionBaseCommandAction)