Segmentation action modified with a new array of surfaces #2
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jstnhuang
requested changes
Nov 1, 2017
action/SegmentSurfaces.action
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| @@ -1,5 +1,6 @@ | |||
| bool save_cloud # True if the point cloud should be saved | |||
| --- | |||
| rapid_pbd_msgs/Landmark[] landmarks | |||
| moveit_msgs/CollisionObject[] surfaces | |||
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This should be a new message type, rapid_pbd_msgs/Surface surface:
geometry_msgs/PoseStamped pose_stamped # The pose of center of the table. Should be specified in the base frame.
geometry_msgs/Vector3 dimensions # Dimensions of the table, in meters
The fact that we are using MoveIt is an internal detail and should not be part of this API.
There should also only be one surface. If we detect multiple surfaces in the future, we can change this.
jstnhuang
requested changes
Nov 2, 2017
msg/Surface.msg
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| @@ -0,0 +1,3 @@ | |||
| # Information of a collision surface for collision object construction | |||
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Again, the purpose of the Surface is just to represent a surface. It may be used as a collision object, but it could also be used for visualization. So this comment should just say:
# Represents a surface found when detecting surface objects.
jstnhuang
approved these changes
Nov 2, 2017
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One-line description of pull request:
A surface array added for surface segmentation
Detailed description of pull request:
SegmentSurfaces.action now has an additional array for collision surfaces as result of an action. This allows surface_segmentation_action to add detected collision surfaces in the result. Although current development of surface_segmentation_action only adds one collision surface, this pull request enables potential of surface_segmentation_action to add multiple collision surfaces.
How was this PR tested?
Tested by demo video: https://drive.google.com/open?id=0B5qgkEBlR0dXVkNUZWhSVExyUm8