Scene Objects Manager

A Node for object management in MoveIt2 Planning Scene environment with ROS 2 API.

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Development notes

The node functionalities should be based around MoveIt2 Docs.

• Objects types: box, sphere, cylinder, cone, mesh_from_file, mesh_from_url
• Implemented: box, sphere, cylinder, cone

Check the following messages definitions:

Msg	Src
moveit_msgs/msg/CollisionObject	link
object_recognition_msgs/msg/ObjectType	link
shape_msgs/msg/SolidPrimitive.msg	link

Block detection service (based on ArUco markers)

This service detects blocks marked with ArUco markers using scene camera and returns their poses.

Service description

The /detect_blocks_poses service provides the poses of all detected blocks in the scene.

• Service name: detect_blocks_poses
• Service type: scene_objects_manager/srv/DetectBlocksPoses
• Response: geometry_msgs/msg/PoseArray

The response contains a list of poses (PoseArray), where each pose corresponds to a detected block in the camera frame.

Example usage:

ros2 service call /detect_blocks_poses scene_objects_manager/srv/DetectBlocksPoses "{detect: true}"

Libraries used

• argparse (MIT License)

Tests

• detect_all_markers.py - is publishing static transform to the tf of detected blocks.
• go_above_markers.py - is moving the robot above the detected markers.