Handle Detector

Original author: Andreas ten Pas (atp@ccs.neu.edu)

Version: 1.3.1-rail

Original wiki: http://wiki.ros.org/handle_detector

Original author's website: http://www.ccs.neu.edu/home/atp/

Maintainer: Ryan Petschek (petschekr@gatech.edu)

Overview

This package takes a point cloud as input and produces a list of handels / enveloping grasp affordances as output. Also publishes the correctly located and oriented transforms of detected handles.

Input: point cloud

Output: handles / enveloping grasp affordances

Requirements

1. ROS Indigo (http://wiki.ros.org/indigo)
2. Lapack (install in Ubuntu using: sudo apt-get install liblapack-dev)
3. A Kinect library like libfreenect2 or OpenNI that publishes the point cloud read from the Kinect sensor

Updates compared to upstream

• Bug fixes for ROS Indigo, transforms, and the frames and topics used by the HLP-R platform
• Can optionally publish the averaged and correctly aligned transforms of detected handles relative to the global map frame
• Can operate independently on an update interval or via a service call that returns the poses of detected handles
• Integrates with rail_object_locator to provide position and orientation information about objects found in a scene for learning from demonstration with objects that can be moved or rotated

Instructions

Please look at http://wiki.ros.org/handle_detector for detailed instructions.

License

Released under the 2-Clause BSD License.