Garment presence detection¶
Services for detection of garment presence is provided by node gripper_holding in clopema_gripper package.Services are:
Type of the service is clopema_gripper/OpticalClassification.srv
There is no input and service returns bool if gripper is holding something or not.
To launch rosservice type:
$ rosrun clopema_gripper optical_classification.py
Example of use in python:
import rospy from clopema_gripper.srv import OpticalClassification ... ... rospy.wait_for_service('/r1_gripper/is_holding') rospy.ServiceProxy('/r1_gripper/is_holding', OpticalClassification)
Gripper has to be closed for garment presence recognition.