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RVIZ Point Cloud Representation of Grasped Objects

asked 2021-09-18 20:33:30 -0500

aaa gravatar image

Hello all,

I am trying to perform point cloud reconstruction of objects grasped by a robotic hand using rviz. The hand is equipped with tactile sensors whose data are streamed through ros topics. I was thinking about identifying a point of contact once one of the tactile sensors gives a reading and storing this point until a point cloud is formed which can be used to reconstruct the object at hand. I am new to this, so any guidance about how to do it or any recommended other approach to follow to accomplish what I need would be much appretiated. Thanks!

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answered 2021-09-19 04:34:19 -0500

osilva gravatar image

Hi @aaa

There are multiple ways to achieve this. Since you are looking a starting point with RViZ I suggest you look how this is done with Tiago robot and adapt it from there:

Hope this helps

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Does Tiago have pressure sensors in its grippers? Does it use that data to construct a pointcloud?

gvdhoorn gravatar image gvdhoorn  ( 2021-09-20 02:13:34 -0500 )edit

No it doesn’t but it will help him with the 3D reconstruction of point clouds

osilva gravatar image osilva  ( 2021-09-20 05:06:44 -0500 )edit

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Asked: 2021-09-18 20:33:30 -0500

Seen: 45 times

Last updated: Sep 19 '21