Detect Box Pick Point¶

The coordinate frame of the box’s pick can be requested from a ROS service that detects it by processing the sensor data. In this exercise, we will learn how to use a service client to call that ROS service for the box pick pose.

Locate Function¶

In the main program, locate the function call to application.detect_box_pick().
Go to the source file of that function by clicking in any part of the function and pressing F2 in QtCreator.
Remove the first line containing the following ROS_ERROR_STREAM ... so that the program runs.

Complete Code¶

Find every line that begins with the comment Fill Code: and read the description. Then, replace every instance of the comment ENTER CODE HERE with the appropriate line of code.
```
/* Fill Code:
    .
    .
    .
*/
/* ========  ENTER CODE HERE ======== */
```
The target_recognition_client object in your programs can use the call() method to send a request to a ROS service.
The ROS service that receives the call will process the sensor data and return the pose for the box pick in the service structure member srv.response.target_pose.

Build Code and Run¶

Compile the pick and place node:
- In QTCreator: Build ‣ Build Project
- Alternatively, in a terminal:
```
catkin build collision_avoidance_pick_and_place
```

Run the supporting nodes with the launch file:

roslaunch collision_avoidance_pick_and_place ur5_setup.launch

In another terminal, run your node with the launch file:

roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch

A blue box and voxel grid obstacles will be displayed in rviz. In the terminal you should see a message like the following:

[ INFO] [1400554224.057842127]: Move wait Succeeded
[ INFO] [1400554224.311158465]: Gripper opened
[ INFO] [1400554224.648747043]: target recognition succeeded
[ERROR] [1400554224.649055043]: create_pick_moves is not implemented yet.  Aborting.

API References¶

call()