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Collision Map Processing

This stack has two main roles:

coll_map1.png

Image of the Collision Map. Note the points from the tilting laser (in cyan) and the explicitly recognized objects (in green)

coll_map2.png

Detail of the Collision Map. Note that the recognized objects have been added as triangle meshes, while the unrecognized object has been added as a bounding box.

ROS API

This package provides a single service, TabletopCollisionMapProcessing, which performs all of the above tasks.

Running the Manipulation Pipeline

To launch the manipulation pipeline, complete with the sensor processing provided here, and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in pr2_tabletop_manipulation_apps.


2024-06-22 14:20