ROS2 Grasp Library APIs

Grasp Planning ROS2 Interfaces

• Subscribed Topics
  • PointCloud2 topic from RGBD sensor (sensor_msgs::msg::PointCloud2)
  • Segmented object topic (people_msgs::msg::ObjectsInMasks)
• Delivered Services
  • plan_grasps (moveit_msgs::srv::GraspPlanning)

Hand-Eye Calibration ROS2 Interfaces

• Subscribed Topics
  • RGB image from sensor (sensor_msgs::msg::Image)
• Broadcasted Transforms
  • Static transform btw camera and robot (geometry_msgs::msg::TransformStamped)

Robot Interface API

• API