Grasp Interface Plugin

The messages from the vision component are subscribed by the rvc_grasp_interface automatically when API RVCControl::RVCGraspInterface::init gets called. Subscription of the rvc_message is inside the parent of every plugin and called explicitly in the init function. Example:

bool NonOrientedGrasp::init(rclcpp::Node::SharedPtr node)
{
    auto res = RVCGraspInterface::init(node);
    [...]
}

Upon a new message reception the interface will call the API function RVCControl::RVCGraspInterface::OnMessageReceive to give the plugin the chance to add implementation.

The Pre-Grasp and Grasp pose will be retrieved in the implementation of RVCControl::RVCGraspInterface::getPreGrasp and RVCControl::RVCGraspInterface::getGrasp APIs, where these poses could be computed there or on OnMessageReceive.

APIs for the Grasp plugin can be found at RVCGraspInterface.

Grasp plugin config

The interface init function will subscribe to the rvc_message topic, that by default is object_poses but can be overridden by:

/**:
    ros__parameters:
    object_pose_topic: "object_poses"

object_pose_topic