Fetch_Robot.Gripper.Open() rospy.loginfo("Gripper Open") Fetch_Robot.Arm.Tuck() rospy.loginfo("Tuck Arm") rospy.sleep(rospy.Duration(2)) #Take images RGB_image = Fetch_Robot.GetRGBImage() rospy.loginfo("Get RGB image") Depth_image = Fetch_Robot.GetDepthImage() rospy.loginfo("Get Depth image") #Take point cloud ArPose = Fetch_Robot.GetArPoses() rospy.sleep(rospy.Duration(2)) ArPose = Fetch_Robot.GetArPoses() while (ArPose.header.frame_id is None): ArPose = Fetch_Robot.GetArPoses() print("aaaaa") rospy.loginfo("Get ArPoses") print(ArPose) #Calculate Poses Fetch_Robot.PoseProcessing.SetRGBImage(RGB_image) Fetch_Robot.PoseProcessing.SetDepthImage(Depth_image) Fetch_Robot.PoseProcessing.SetArPose(ArPose)