示例#1
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    def do_perception(self, req):
        rospy.loginfo("[grasp_obj_button] Perceiving object buttons...")
        # perceive object on table
        self.objects = self.obj_seg_srv().objects
        for i in range(len(self.objects)):
            self.objects[i].color.r = 256
            self.objects[i].color.g = 0
            self.objects[i].color.b = 0
            self.objects[i].color.a = 256

        # return object buttons
        resp = PerceiveButtonsResponse()
        resp.buttons = self.objects
        return resp
示例#2
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    def do_perception(self, req):
        # segment surfaces
        rospy.loginfo("[move_floor_button] Segmenting floor")
        self.surfaces = self.floor_seg_srv().surfaces
        for i in range(len(self.surfaces)):
            self.surfaces[i].color.r = 0
            self.surfaces[i].color.g = 0
            self.surfaces[i].color.b = 256
            self.surfaces[i].color.a = 256
        if len(self.surfaces) != 0:
            self.percept_pub.publish(self.surfaces[0])

        resp = PerceiveButtonsResponse()
        resp.buttons = self.surfaces
        return resp
示例#3
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    def do_perception(self, req):
        # capture a few clouds
        rate = rospy.Rate(5)
        for i in range(5):
            self.pc_capture_srv()
            rate.sleep()
            
        # segment surfaces
        self.surfaces = self.table_seg_srv().surfaces
        for i in range(len(self.surfaces)):
            self.surfaces[i].color.r = 0
            self.surfaces[i].color.g = 256
            self.surfaces[i].color.b = 0
            self.surfaces[i].color.a = 256
        self.percept_pub.publish(self.surfaces[0])

        resp = PerceiveButtonsResponse()
        resp.buttons = self.surfaces
        return resp
示例#4
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    def do_perception(self, req):
        rospy.loginfo("[place_object] Perceiving table...")
        # capture a few clouds
        rate = rospy.Rate(5)
        for i in range(5):
            self.pc_capture_srv()
            rate.sleep()

        # segment surfaces
        self.surfaces = self.table_seg_srv().surfaces
        for i in range(len(self.surfaces)):
            self.surfaces[i].color.r = 256
            self.surfaces[i].color.g = 0
            self.surfaces[i].color.b = 256
            self.surfaces[i].color.a = 256

        resp = PerceiveButtonsResponse()
        resp.buttons = self.surfaces
        return resp
示例#5
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    def do_perception(self, req):
        rospy.loginfo("[place_object] Perceiving table...")
        # capture a few clouds
        rate = rospy.Rate(5)
        for i in range(5):
            self.pc_capture_srv()
            rate.sleep()

        # segment surfaces
        self.surfaces = self.table_seg_srv().surfaces
        for i in range(len(self.surfaces)):
            self.surfaces[i].color.r = 256
            self.surfaces[i].color.g = 0
            self.surfaces[i].color.b = 256
            self.surfaces[i].color.a = 256

        resp = PerceiveButtonsResponse()
        resp.buttons = self.surfaces
        return resp