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Filter fingers from wrist camera point cloud and include point cloud in planning scene #100

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Filter fingers from wrist camera point cloud and include point cloud in planning scene #100

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0cf76c9
Filter fingers from wrist camera point cloud
sjahr Jan 17, 2025
1770a65
Fix formatting
sjahr Jan 24, 2025
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3 changes: 3 additions & 0 deletions src/lab_sim/config/config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,9 @@ moveit_params:
servo_joint_limits:
package: "lab_sim"
path: "config/moveit/hard_joint_limits.yaml"
sensors_3d:
package: "lab_sim"
path: "config/moveit/sensors_3d.yaml"

# Configuration for loading behaviors and objectives.
# [Required]
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28 changes: 11 additions & 17 deletions src/lab_sim/config/moveit/sensors_3d.yaml
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Original file line number Diff line number Diff line change
@@ -1,21 +1,15 @@
sensors:
- scene_scan_camera
scene_scan_camera:
# The name of the Octomap updater plugin that we are using.
sensor_plugin: "moveit_studio_plugins/PointCloudServiceOctomapUpdater"
# Specifies the topic to listen on for a point cloud.
# Set to an empty topic to disable.
point_cloud_service_name: "/point_cloud_service"
# Points further than this will not be used (in meters).
max_range: 1.5
# Choose one of every 'point_subsample' points (select all if set to 1).
point_subsample: 1
# Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap.
padding_scale: 1.0
# Absolute padding around scaled collision shapes when excluding them from the octomap (in meters).
padding_offset: 0.01
# The octomap representation will be updated at rate less than or equal to this value.
max_update_rate: 0.1
- wrist_camera

wrist_camera:
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
point_cloud_topic: /wrist_camera/points # The topic on which the sensor data is received.
max_range: 3.0 # Points further than this will not be used.
point_subsample: 1 # Choose one of every point_subsample points.
padding_offset: 0.01 # The size of the padding (in cm).
padding_scale: 1.0 # The scale of the padding.
max_update_rate: 0.5 # The maximum rate at which the sensor is allowed to update the octomap.
filtered_cloud_topic: /wrist_camera/filtered_points # The topic on which the filtered cloud will be published

# Specifies the resolution at which the octomap is maintained (in meters).
octomap_resolution: 0.01
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5 changes: 3 additions & 2 deletions src/lab_sim/objectives/wrist_snap.xml
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
<?xml version="1.0" encoding="utf-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Take wrist camera snapshot">
<!--//////////-->
<BehaviorTree
Expand All @@ -7,8 +8,8 @@
_subtreeOnly="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<!-- Do not clear snapshots first, so we can take multiple snapshots from different angles -->
<Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
<!--Do not clear snapshots first, so we can take multiple snapshots from different angles-->
<Action ID="GetPointCloud" topic_name="/wrist_camera/filtered_points" />
<Action ID="SendPointCloudToUI" />
</Control>
</BehaviorTree>
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