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RVIZ Point Cloud Representation of Grasped Objects

asked 2021-09-18 20:33:30 -0600

aaa
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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 -0600

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

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:

http://wiki.ros.org/Robots/TIAGo/Tuto...

Hope this helps