This package provides a ROS node for estimating the cart position.
Advertised topics
cart_footprint (geometry_msgs/PolygonStamped)
- A polygon representing the estimated current bounding box for the cart
Transforms provided
A transform from cart to base_footprint representing the estimated cart pose.
Transforms required
Transforms between base_footprint and the gripper frames specified by the ros parameters.
Services required
manipulation_transforms_server/MapEffectorPosesToObject
- Used to transform gripper poses into cart pose
ROS parameters
cart_pushing/{width,length}
- cart dimensions
{l,r}_gripper_frame
- The frames representing the gripper poses
cart_pushing/footprint_{x,y}_offset
- The offset of the cart reference point from the corner