Regarding Grasping

I have followed all the steps but no result is shown in object detection.
Also, I understood the overview of the code but unable to get through it or may I get more help or any other resource to look into? I am unable to add perception also topics are not getting added in rviz too!
Chapter 6 is becoming a big mess, please help

Hello @naitrir21,

You need to keep in mind that in order to trigger the object detection node, you need to send a goal to the Action Server /find_objects, with the following command:

rostopic pub /basic_grasping_perception/find_objects/goal grasping_msgs/FindGraspableObjectsActionGoal "header:
  seq: 0
    secs: 0
    nsecs: 0
  frame_id: 'base_link'
    secs: 0
    nsecs: 0
  id: ''
  plan_grasps: false"

Then, for the object detection visualization, after you setup RViz with the proper displays, you need to execute the above command in order to trigger the system and visualize the detections. I’ve made some updates to the notebook to make this more clear.