机器人 Grasp Pose Detection (GPD) 工作空间的设置

目的：只抓取在工作空间的物体

环境 Ubuntu 16.04
ROS Kinetic

假设运行的
roslaunch astra_launch astra.launch
rosrun rviz rviz（加载openni2.rviz）
roslaunch gpd tutorial1.launch

相机坐标以人眼的举例
右X，下Y，前 Z

工作空间有两类
一个是
定义了在以原点为中心的长方体中搜索grasp，长方体定义如下
[minX, maxX, minY, maxY, minZ, maxZ]

<rosparam param="workspace"> [-0.1, 0.1, 0, 1, -1, 1]</rosparam>
<rosparam param="camera_position"> [0, 0, 0] </rosparam>

另一个是夹抓的工作空间

   <param name="filter_grasps" value="false" /> <!-- on workspace and robot hand aperture -->
   <rosparam param="workspace_grasps"> [-0.1, 0.1, 1, 1, -1, 1]</rosparam>

filter_grasps属性的值要设置为true ，workspace_grasps参数才会启用
workspace_grasps的大小要小于workspace。如果workspace_grasps大于workspace，且 filter_grasps为true，程序会报错退出。

查看参数命令
rosparam list

/detect_grasps/angle_thresh
/detect_grasps/camera_position
/detect_grasps/cloud_topic
/detect_grasps/cloud_type
/detect_grasps/create_image_batches
/detect_grasps/filter_grasps
/detect_grasps/filter_half_antipodal
/detect_grasps/filter_table_side_grasps
/detect_grasps/finger_width
/detect_grasps/hand_depth
/detect_grasps/hand_height
/detect_grasps/hand_outer_diameter
/detect_grasps/image_depth
/detect_grasps/image_height
/detect_grasps/image_num_channels
/detect_grasps/image_outer_diameter
/detect_grasps/image_size
/detect_grasps/init_bite
/detect_grasps/lenet_params_dir
/detect_grasps/max_aperture
/detect_grasps/min_aperture
/detect_grasps/min_inliers
/detect_grasps/min_score_diff
/detect_grasps/nn_radius
/detect_grasps/num_orientations
/detect_grasps/num_samples
/detect_grasps/num_selected
/detect_grasps/num_threads
/detect_grasps/plot_candidates
/detect_grasps/plot_clusters
/detect_grasps/plot_filtered_grasps
/detect_grasps/plot_normals
/detect_grasps/plot_samples
/detect_grasps/plot_selected_grasps
/detect_grasps/plot_valid_grasps
/detect_grasps/remove_outliers
/detect_grasps/remove_plane_before_image_calculation
/detect_grasps/rviz_topic
/detect_grasps/samples_topic
/detect_grasps/table_height
/detect_grasps/table_thresh
/detect_grasps/use_importance_sampling
/detect_grasps/vertical_axis
/detect_grasps/voxelize
/detect_grasps/workspace
/detect_grasps/workspace_grasps

rosparam get detect_grasps/workspace
[-0.3, 0.3, 0, 1, -1, 1]

机器人 Grasp Pose Detection (GPD) 工作空间的设置

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