ROS 2 Wrapper for GPD

• Author's website
• License
• GPD library

Overview

A ROS 2 wrapper around the GPD package for detecting 6-DOF grasp poses for a 2-finger robot hand (e.g., a parallel jaw gripper) in 3D point clouds.

1) Installation

The following instructions have been tested on Ubuntu 22.04 with ROS 2 (e.g., Humble, Iron). Similar instructions should work for other ROS 2 distributions.

1. Install GPD. You can follow these instructions. Make sure to run make install to install GPD as a library.

2. Clone this repository into the src folder of your ROS 2 workspace:

cd <location_of_your_ros2_workspace>/src
git clone https://github.com/rohitmenon86/gpd_ros2.git

3. Build your ROS 2 workspace using colcon:

cd <location_of_your_ros2_workspace>
colcon build --symlink-install

4. Source the workspace:

source install/setup.bash