Detect Box Pick Point¶

The coordinate frame of the box's pick can be requested from a ros service that detects it by processing the sensor data. In this exercise, we will learn how to use a service client to call that ros service for the box pick pose.

Locate Function¶

In the main program , locate the function call to '''application.detect_box_pick()'''.
Go to the source file of that function by clicking in any part of the function and pressing "F3".
Remove the fist line containing the following '''ROS_ERROR_STREAM ...''' so that the program runs.

Complete Code¶

Find every line that begins with the comment "''Fill Code: ''" and read the description. Then, replace every instance of the comment "''ENTER CODE HERE''"with the appropriate line of code

/* Fill Code: 
     .
     .
     .
*/
/* ========  ENTER CODE HERE ======== */

The '''target_recognition_client''' object in your programs can use the '''call()''' method to send a request to a ros service.
The ros service that receives the call will process the sensor data and return the pose for the box pick in the service structure member '''srv.response.target_pose'''.

Build Code and Run¶

Compile the pick and place node in QT

Project -> Build Project

Alternatively, in a terminal cd into the '''demo_manipulation''' directory and do the following

catkin build --pkg collision_avoidance_pick_and_place

Run your node with the launch file:

roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch

A blue box and voxel grid obstacles will be displayed in rviz. In the terminal you should see a message like the following:

[ INFO] [1400554224.057842127]: Move wait Succeeded
[ INFO] [1400554224.311158465]: Gripper opened
[ INFO] [1400554224.648747043]: target recognition succeeded
[ERROR] [1400554224.649055043]: create_pick_moves is not implemented yet.  Aborting.

API References¶

call()

Open Source Feedback

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