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🔧 MANIPULATION 子系统
📊 接口概览
📦 Services (8)
1. camera_calibration
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/manipulation/camera_calibration |
| Type | manipulation/CameraCalibration |
| Description | 相机内外参标定 |
| Note | 自动相机内外参标定，外参标定时机器人会执行一段轨迹，拍摄不同角度的照片，从而计算外参 |
2. execute_pick_task
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/manipulation/execute_pick_task |
| Type | manipulation/ExecutePickTask |
| Description | 执行抓取服务 |
| Note | 输出物品名称执行抓取服务 |
3. grasp_teach_service
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/manipulation/grasp_teach_service |
| Type | manipulation/GraspTeach |
| Description | 视觉抓取示教 |
| Note | 视觉示教抓取，让机器人知道该从什么方位抓取物品 |
4. joint_space_trajectory_planner
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/manipulation/joint_space_trajectory_planner |
| Type | manipulation/JointSpaceTrajPlan |
| Description | 关节空间轨迹规划 |
| Note | 节空间轨迹规划，输出关节轨迹，示教模式下记录各个关节数据，据此生成完整的执行轨迹 |
5. pose_estimation_service
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/manipulation/pose_estimation_service |
| Type | manipulation/PoseEst |
| Description | 获取目标位姿 |
| Note | 输入图像获取指定物品的6D位姿 |
6. pose_space_trajectory_planner
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/manipulation/pose_space_trajectory_planner |
| Type | manipulation/PoseSpaceTrajPlan |
| Description | 末端轨迹规划 |
| Note | 末端空间轨迹规划，示教模式下记录各个末端执行器数据，据此生成完整的执行轨迹 |
7. scene_update
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/manipulation/scene_update |
| Type | manipulation/SceneUpdate |
| Description | 场景更新 |
| Note | 机器人场景更新,基于二维码，需要场景中有二维码，机器人抓取物品前的环境感知 |
8. version
| 字段 | 值 |
|---|---|
| Service Name | /zj_humanoid/manipulation/version |
| Type | std_srvs/Trigger |
| Description | 操作模块版本号 |
📡 Topics (1)
1. instance_segmentation_action/goal
| 字段 | 值 |
|---|---|
| Topic Name | /zj_humanoid/manipulation/instance_segmentation_action/goal |
| Type | manipulation/InstSeg |
| Direction | 📤 Publish |
| Description | 实例分割Action |
⚙️ Actions (1)
1. instance_segmentation_action
| 字段 | 值 |
|---|---|
| Action Name | /zj_humanoid/manipulation/instance_segmentation_action |
| Type | manipulation/InstSeg |
| Description | 实例分割 |