ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
airship_grasp package from airship repoairship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/airs-cuhk/airship.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Airship Grasp package
Additional Links
No additional links.
Maintainers
- airsbot2
Authors
No additional authors.
Airship_grasp
This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.
Airship_grasp API Overview
grasp_server_node
- default config: airship_grasp/config/airship_grasp_config.yaml
- Service
-
/airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement. -
/airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters -
fx,fy,cx,cy: D435i camera intrinsic.(Default:none) -
image_width: The image width of depth and color images.(Default:none) -
image_height: The image height of depth and color images.(Default:none) -
depth_scale: The conversion factor between the depth values and the actual physical distance.(Default:1000.0) -
model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’) -
expand_mask_height: The height of the area selected around the object mask.(Default:none) -
expand_mask_width:The width of the area selected around the object mask.(Default:none) -
num_points: The maximum number of points recovered from the depth image.(Default:20000) -
num_grasp_pose: The number of preliminary selected grasp poses.(Default:10) -
ip: The IP address of the elephant robot.(Default:none) -
port: The port of the elephant robot.(Default:9000) -
arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default:380) -
max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default:-60) -
min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default:-120) -
cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default:none) -
est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default:[0.04, 0.0, 0.0, 90.0, 0.0, 90.0]) -
debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default:False)
To Do List
- Optimize the grasp pose estimation algorithm.
- Adaptively select the area surrounding the mask for grasp pose selection.
- Consider the future handling of soft objects and adjust the gripper adaptively for grasping.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| rclpy |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged airship_grasp at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
airship_grasp package from airship repoairship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/airs-cuhk/airship.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Airship Grasp package
Additional Links
No additional links.
Maintainers
- airsbot2
Authors
No additional authors.
Airship_grasp
This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.
Airship_grasp API Overview
grasp_server_node
- default config: airship_grasp/config/airship_grasp_config.yaml
- Service
-
/airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement. -
/airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters -
fx,fy,cx,cy: D435i camera intrinsic.(Default:none) -
image_width: The image width of depth and color images.(Default:none) -
image_height: The image height of depth and color images.(Default:none) -
depth_scale: The conversion factor between the depth values and the actual physical distance.(Default:1000.0) -
model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’) -
expand_mask_height: The height of the area selected around the object mask.(Default:none) -
expand_mask_width:The width of the area selected around the object mask.(Default:none) -
num_points: The maximum number of points recovered from the depth image.(Default:20000) -
num_grasp_pose: The number of preliminary selected grasp poses.(Default:10) -
ip: The IP address of the elephant robot.(Default:none) -
port: The port of the elephant robot.(Default:9000) -
arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default:380) -
max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default:-60) -
min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default:-120) -
cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default:none) -
est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default:[0.04, 0.0, 0.0, 90.0, 0.0, 90.0]) -
debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default:False)
To Do List
- Optimize the grasp pose estimation algorithm.
- Adaptively select the area surrounding the mask for grasp pose selection.
- Consider the future handling of soft objects and adjust the gripper adaptively for grasping.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| rclpy |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged airship_grasp at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
airship_grasp package from airship repoairship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/airs-cuhk/airship.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Airship Grasp package
Additional Links
No additional links.
Maintainers
- airsbot2
Authors
No additional authors.
Airship_grasp
This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.
Airship_grasp API Overview
grasp_server_node
- default config: airship_grasp/config/airship_grasp_config.yaml
- Service
-
/airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement. -
/airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters -
fx,fy,cx,cy: D435i camera intrinsic.(Default:none) -
image_width: The image width of depth and color images.(Default:none) -
image_height: The image height of depth and color images.(Default:none) -
depth_scale: The conversion factor between the depth values and the actual physical distance.(Default:1000.0) -
model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’) -
expand_mask_height: The height of the area selected around the object mask.(Default:none) -
expand_mask_width:The width of the area selected around the object mask.(Default:none) -
num_points: The maximum number of points recovered from the depth image.(Default:20000) -
num_grasp_pose: The number of preliminary selected grasp poses.(Default:10) -
ip: The IP address of the elephant robot.(Default:none) -
port: The port of the elephant robot.(Default:9000) -
arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default:380) -
max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default:-60) -
min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default:-120) -
cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default:none) -
est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default:[0.04, 0.0, 0.0, 90.0, 0.0, 90.0]) -
debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default:False)
To Do List
- Optimize the grasp pose estimation algorithm.
- Adaptively select the area surrounding the mask for grasp pose selection.
- Consider the future handling of soft objects and adjust the gripper adaptively for grasping.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| rclpy |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged airship_grasp at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
airship_grasp package from airship repoairship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/airs-cuhk/airship.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Airship Grasp package
Additional Links
No additional links.
Maintainers
- airsbot2
Authors
No additional authors.
Airship_grasp
This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.
Airship_grasp API Overview
grasp_server_node
- default config: airship_grasp/config/airship_grasp_config.yaml
- Service
-
/airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement. -
/airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters -
fx,fy,cx,cy: D435i camera intrinsic.(Default:none) -
image_width: The image width of depth and color images.(Default:none) -
image_height: The image height of depth and color images.(Default:none) -
depth_scale: The conversion factor between the depth values and the actual physical distance.(Default:1000.0) -
model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’) -
expand_mask_height: The height of the area selected around the object mask.(Default:none) -
expand_mask_width:The width of the area selected around the object mask.(Default:none) -
num_points: The maximum number of points recovered from the depth image.(Default:20000) -
num_grasp_pose: The number of preliminary selected grasp poses.(Default:10) -
ip: The IP address of the elephant robot.(Default:none) -
port: The port of the elephant robot.(Default:9000) -
arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default:380) -
max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default:-60) -
min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default:-120) -
cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default:none) -
est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default:[0.04, 0.0, 0.0, 90.0, 0.0, 90.0]) -
debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default:False)
To Do List
- Optimize the grasp pose estimation algorithm.
- Adaptively select the area surrounding the mask for grasp pose selection.
- Consider the future handling of soft objects and adjust the gripper adaptively for grasping.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| rclpy |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged airship_grasp at Robotics Stack Exchange
|
|
airship_grasp package from airship repoairship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/airs-cuhk/airship.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Airship Grasp package
Additional Links
No additional links.
Maintainers
- airsbot2
Authors
No additional authors.
Airship_grasp
This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.
Airship_grasp API Overview
grasp_server_node
- default config: airship_grasp/config/airship_grasp_config.yaml
- Service
-
/airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement. -
/airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters -
fx,fy,cx,cy: D435i camera intrinsic.(Default:none) -
image_width: The image width of depth and color images.(Default:none) -
image_height: The image height of depth and color images.(Default:none) -
depth_scale: The conversion factor between the depth values and the actual physical distance.(Default:1000.0) -
model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’) -
expand_mask_height: The height of the area selected around the object mask.(Default:none) -
expand_mask_width:The width of the area selected around the object mask.(Default:none) -
num_points: The maximum number of points recovered from the depth image.(Default:20000) -
num_grasp_pose: The number of preliminary selected grasp poses.(Default:10) -
ip: The IP address of the elephant robot.(Default:none) -
port: The port of the elephant robot.(Default:9000) -
arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default:380) -
max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default:-60) -
min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default:-120) -
cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default:none) -
est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default:[0.04, 0.0, 0.0, 90.0, 0.0, 90.0]) -
debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default:False)
To Do List
- Optimize the grasp pose estimation algorithm.
- Adaptively select the area surrounding the mask for grasp pose selection.
- Consider the future handling of soft objects and adjust the gripper adaptively for grasping.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| rclpy |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged airship_grasp at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
airship_grasp package from airship repoairship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/airs-cuhk/airship.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Airship Grasp package
Additional Links
No additional links.
Maintainers
- airsbot2
Authors
No additional authors.
Airship_grasp
This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.
Airship_grasp API Overview
grasp_server_node
- default config: airship_grasp/config/airship_grasp_config.yaml
- Service
-
/airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement. -
/airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters -
fx,fy,cx,cy: D435i camera intrinsic.(Default:none) -
image_width: The image width of depth and color images.(Default:none) -
image_height: The image height of depth and color images.(Default:none) -
depth_scale: The conversion factor between the depth values and the actual physical distance.(Default:1000.0) -
model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’) -
expand_mask_height: The height of the area selected around the object mask.(Default:none) -
expand_mask_width:The width of the area selected around the object mask.(Default:none) -
num_points: The maximum number of points recovered from the depth image.(Default:20000) -
num_grasp_pose: The number of preliminary selected grasp poses.(Default:10) -
ip: The IP address of the elephant robot.(Default:none) -
port: The port of the elephant robot.(Default:9000) -
arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default:380) -
max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default:-60) -
min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default:-120) -
cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default:none) -
est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default:[0.04, 0.0, 0.0, 90.0, 0.0, 90.0]) -
debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default:False)
To Do List
- Optimize the grasp pose estimation algorithm.
- Adaptively select the area surrounding the mask for grasp pose selection.
- Consider the future handling of soft objects and adjust the gripper adaptively for grasping.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| rclpy |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged airship_grasp at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
airship_grasp package from airship repoairship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/airs-cuhk/airship.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Airship Grasp package
Additional Links
No additional links.
Maintainers
- airsbot2
Authors
No additional authors.
Airship_grasp
This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.
Airship_grasp API Overview
grasp_server_node
- default config: airship_grasp/config/airship_grasp_config.yaml
- Service
-
/airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement. -
/airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters -
fx,fy,cx,cy: D435i camera intrinsic.(Default:none) -
image_width: The image width of depth and color images.(Default:none) -
image_height: The image height of depth and color images.(Default:none) -
depth_scale: The conversion factor between the depth values and the actual physical distance.(Default:1000.0) -
model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’) -
expand_mask_height: The height of the area selected around the object mask.(Default:none) -
expand_mask_width:The width of the area selected around the object mask.(Default:none) -
num_points: The maximum number of points recovered from the depth image.(Default:20000) -
num_grasp_pose: The number of preliminary selected grasp poses.(Default:10) -
ip: The IP address of the elephant robot.(Default:none) -
port: The port of the elephant robot.(Default:9000) -
arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default:380) -
max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default:-60) -
min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default:-120) -
cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default:none) -
est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default:[0.04, 0.0, 0.0, 90.0, 0.0, 90.0]) -
debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default:False)
To Do List
- Optimize the grasp pose estimation algorithm.
- Adaptively select the area surrounding the mask for grasp pose selection.
- Consider the future handling of soft objects and adjust the gripper adaptively for grasping.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| rclpy |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged airship_grasp at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
airship_grasp package from airship repoairship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/airs-cuhk/airship.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Airship Grasp package
Additional Links
No additional links.
Maintainers
- airsbot2
Authors
No additional authors.
Airship_grasp
This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.
Airship_grasp API Overview
grasp_server_node
- default config: airship_grasp/config/airship_grasp_config.yaml
- Service
-
/airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement. -
/airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters -
fx,fy,cx,cy: D435i camera intrinsic.(Default:none) -
image_width: The image width of depth and color images.(Default:none) -
image_height: The image height of depth and color images.(Default:none) -
depth_scale: The conversion factor between the depth values and the actual physical distance.(Default:1000.0) -
model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’) -
expand_mask_height: The height of the area selected around the object mask.(Default:none) -
expand_mask_width:The width of the area selected around the object mask.(Default:none) -
num_points: The maximum number of points recovered from the depth image.(Default:20000) -
num_grasp_pose: The number of preliminary selected grasp poses.(Default:10) -
ip: The IP address of the elephant robot.(Default:none) -
port: The port of the elephant robot.(Default:9000) -
arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default:380) -
max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default:-60) -
min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default:-120) -
cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default:none) -
est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default:[0.04, 0.0, 0.0, 90.0, 0.0, 90.0]) -
debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default:False)
To Do List
- Optimize the grasp pose estimation algorithm.
- Adaptively select the area surrounding the mask for grasp pose selection.
- Consider the future handling of soft objects and adjust the gripper adaptively for grasping.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| rclpy |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged airship_grasp at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
|
|
airship_grasp package from airship repoairship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/airs-cuhk/airship.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Airship Grasp package
Additional Links
No additional links.
Maintainers
- airsbot2
Authors
No additional authors.
Airship_grasp
This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.
Airship_grasp API Overview
grasp_server_node
- default config: airship_grasp/config/airship_grasp_config.yaml
- Service
-
/airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement. -
/airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters -
fx,fy,cx,cy: D435i camera intrinsic.(Default:none) -
image_width: The image width of depth and color images.(Default:none) -
image_height: The image height of depth and color images.(Default:none) -
depth_scale: The conversion factor between the depth values and the actual physical distance.(Default:1000.0) -
model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’) -
expand_mask_height: The height of the area selected around the object mask.(Default:none) -
expand_mask_width:The width of the area selected around the object mask.(Default:none) -
num_points: The maximum number of points recovered from the depth image.(Default:20000) -
num_grasp_pose: The number of preliminary selected grasp poses.(Default:10) -
ip: The IP address of the elephant robot.(Default:none) -
port: The port of the elephant robot.(Default:9000) -
arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default:380) -
max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default:-60) -
min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default:-120) -
cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default:none) -
est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default:[0.04, 0.0, 0.0, 90.0, 0.0, 90.0]) -
debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default:False)
To Do List
- Optimize the grasp pose estimation algorithm.
- Adaptively select the area surrounding the mask for grasp pose selection.
- Consider the future handling of soft objects and adjust the gripper adaptively for grasping.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| rclpy |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.