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vision_detect_plug

vision_detect_plug action is used to detect the pose of a plug in a gripper.

Action Goal

vision_detect_plug/goal (pr2_plugs_msgs/VisionPlugDetectionGoal)

• The goal gives the camera to use, a prior pose of an outlet and a wall norm.

Action Result

vision_detect_plug/result (pr2_plugs_msgs/VisionPlugDetectionResult)

• This returns the pose of the outlet.

Subscribed Topics

<camera_name>/image_rect (sensor_msgs/Image)

• This subscribes to the image from the camera.

Published Topics

~display_image (sensor_msgs/Image)

• Camera image marked with detected checkerboard corners.

Parameters

Checkerboard dimensions

The checkerboard detector looks for the interior corners; for example, a standard checkerboard is considered to have dimensions 7x7.

~board_width (int)

• The number of interior corners in the horizontal direction.

~board_height (int)

• The number of interior corners in the vertical direction.

~square_size (double)

• The length of a checkerboard square edge (meters).

Detection options

~subpixel_corners (bool, default: true)

• Whether to perform subpixel refinement on detected corners. This usually yields a more accurate pose.

Checkerboard to plug transform

plug_position_* is the position of the plug frame origin in the checkerboard frame. plug_orientation_* is a quaternion rotating the plug frame to the checkerboard frame. With the plug positioned for entering the outlet, the checkerboard frame is:

• Origin: The lower-right interior checkerboard corner.
• X: Down
• Y: Forward (towards the outlet)
• Z: Into the plug

(diagrams needed)

~plug_position_x (double)

• X coordinate.

~plug_position_y (double)

• Y coordinate.

~plug_position_z (double)

• Z coordinate.

~plug_orientation_x (double)

• Quaternion X.

~plug_orientation_y (double)

• Quaternion Y.

~plug_orientation_z (double)

• Quaternion Z.

~plug_orientation_w (double)

• Quaternion W.