perception`#

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/advanced_grasping/perception Quick Facts

Category: Mobile manipulation
Message type: pal_bt_grasping_msgs/Perception

Look for an object and add it to the MoveIt! planning scene (part of the Advanced Grasping pipeline).

See Overview of the Advanced Grasping pipeline for details and tutorials.

Quick snippets#

Send a goal from the command-line#

$ rostopic pub /advanced_grasping/perception/goal pal_bt_grasping_msgs/PerceptionActionGoal # press Tab to complete the message prototype

How to use in your code#

Call the action from a Python script#

#!/usr/bin/env python

import rospy
import actionlib
from pal_bt_grasping_msgs.msg import *


if __name__ == "__main__":

    client = actionlib.SimpleActionClient("/advanced_grasping/perception", pal_bt_grasping_msgs.msg.PerceptionAction)
    client.wait_for_server()

    # check the pal_bt_grasping_msgs/PerceptionGoal message
    # definition for the possible goal parameters
    goal = pal_bt_grasping_msgs.msg.PerceptionGoal(param1=..., param2=...)

    client.send_goal(goal)
    client.wait_for_result()

    rospy.loginfo("Action returned: %s" % client.get_result())

Call the action using SimpleActionClient#

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <pal_bt_grasping_msgs/PerceptionAction.h>

int main (int argc, char **argv)
{
  ros::init(argc, argv, "advanced_grasping_perception_action_client");

  // create the action client
  // true causes the client to spin its own thread
  actionlib::SimpleActionClient<:pal_bt_grasping_msgs::PerceptionAction> ac("/advanced_grasping/perception", true);

  ROS_INFO("Waiting for action server to start.");
  // wait for the action server to start
  ac.waitForServer(); //will wait for infinite time

  ROS_INFO("Action server started, sending goal.");
  // send a goal to the action
  pal_bt_grasping_msgs::PerceptionGoal goal;

  // check the pal_bt_grasping_msgs/PerceptionGoal message
  // definition for the possible goal parameters

  // goal.... = ...;
  ac.sendGoal(goal);

  //wait for the action to return
  bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));

  if (finished_before_timeout)
  {
    actionlib::SimpleClientGoalState state = ac.getState();
    ROS_INFO("Action finished: %s",state.toString().c_str());
  }
  else
  {
    ROS_INFO("Action did not finish before the time out.");
    ac.cancelGoal();
  }

  return 0;
}

/advanced_grasping/perception#

Quick snippets#

How to use in your code#

`/advanced_grasping/perception`#