Gazeboのclockをtopicへ配信 #192
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grasp_error-2023-10-12_20.50.54.mp4掴むときにエラーが出る、かつ、pick and placeが動作することを確認しました。 |
ShotaAk
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Dec 19, 2023
* 点群認識サンプルの追加 (#176) * 点群を0.5mの距離でフィルタリング * Voxel gridでダウンサンプリング * 点群の座標変換 * 点群の座標変換修正 * 点群の取得範囲変更 * KdTreeによるクラスタリング * 認識した物体位置をtfで配信 * スタイル修正 * ファイル名変更 * point_cloud_detectionをサンプル実行用launchに追加 * 不要な変数を削除 * Update README * プレース後の物体を再度把持してしまうためプレース位置修正 * 認識後の点群をRvizに表示 * 平面検出処理追加 * コメント修正 * READMEに動画URL追加 * tfの表示時間短縮 * タイムスタンプを一致させるためheaderをコピー * 点群の重心位置を物体位置として配信 * tfの取得時間の範囲を変更 * 物体位置の高さ制限を追加 * 平面検出をコメントアウト * newをmake_sharedに置き換え * 点群処理を複数の関数に分割 * Copyright表記修正 Co-authored-by: Shota Aoki <[email protected]> * Update README * 変数の型修正 Co-authored-by: Shota Aoki <[email protected]> * 変数の型修正 Co-authored-by: Shota Aoki <[email protected]> * 変数名修正 Co-authored-by: Shota Aoki <[email protected]> * 点群取得範囲修正 Co-authored-by: Shota Aoki <[email protected]> * 平面検出の判定条件修正 Co-authored-by: Shota Aoki <[email protected]> * for文を範囲for文に変更 Co-authored-by: Shota Aoki <[email protected]> * for文を範囲for文に変更 Co-authored-by: Shota Aoki <[email protected]> * 認識範囲に点群がない場合INFOを出力 --------- Co-authored-by: Shota Aoki <[email protected]> * バージョンタグを4.2.0に更新 (#177) v4.2.0に更新 * 色認識サンプルの追加 (#183) * 色認識追加 * 二値化画像を配信 * 不要な処理を削除 * RVizに二値化画像を表示 * 距離のオフセット追加 * 変数名変更 * カーネルを変更 * 不要な空行を削除 * 画像取得時のheaderをtfに使用 * コメント、変数名修正 * Update README * コメント修正 * 変数名変更 * 動画URL追加 * バージョンタグを4.3.0に更新 (#184) * Remove gz ros2 controll installation. (#189) Remove gz ros2 controll installation * Gazeboのclockをtopicへ配信 (#192) ros_gz_bridge追加 * goal_toleranceの設定と把持角の調整 (#193) * goal_tolerance調整 * グリッパ角調整 * Prepare for release 4.4.0 (#194) 4.4.0 --------- Co-authored-by: Shota Aoki <[email protected]>
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What does this implement/fix?
Gazeboのclockをtopicへ配信し、シミュレーション時間でサンプルを実行できるようになります。
Does this close any currently open issues?
しません
How has this been tested?
シミュレータを起動し、pick_and_placeを実行します。
グリッパーが物体を掴んだとき下記エラーが出力されます。
Any other comments?
#191 に関連します。
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