O'Reilly logo

Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

Stay ahead with the world's most comprehensive technology and business learning platform.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, tutorials, and more.

Start Free Trial

No credit card required

Calculating grasp poses with GPD

In this section, we will present Grasp Pose Detector (https://github.com/atenpas/gpd ), a ROS package able to detect 6-DOF grasp poses for two-finger grippers, such as the one for our seven_dof_arm manipulator. Grasping poses are detected using 3D point clouds, so we can use the depth sensor of the robot to find object grasping poses. This package exploits deep learning and GPU calculation to detect different grasping poses for all the objects detected into the scene. To download this package, just clone the following code repository:

$ git clone https://github.com/atenpas/gpd.git  

Owing to the use of GPU parallel calculation, to use this package an Nvidia video card is needed. To compile the GPD, the following ...

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, interactive tutorials, and more.

Start Free Trial

No credit card required