simple_grasping
- Software
- Robot arms and industry
- Library
A ROS2 package offering simple perception and grasping components, including a node that detects graspable objects from an RGBD camera and a standalone grasp planner for parallel jaw grippers.
Source on GitHub: github.com/mikeferguson/simple_grasping (opens in a new tab). Facts read at commit eda96e2 (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit eda96e2 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- The basic grasping perception node connects to an RGBD camera and offers a find_objects action server returning graspable objects and support surfaces.
- Debug topics can publish colorized point clouds of detected objects and surfaces when enabled.
- Continuous detection can segment objects and support surfaces repeatedly, mainly useful with debug topics.
- A standalone grasp planner node produces MoveIt grasp candidates for a given object through a plan action.
- The planner is configured for a parallel jaw gripper, with joint names, opening, effort and approach/retreat distances as parameters.
- An example using the perception node is given as the ubr1_demo in the ubr_reloaded package.
Written by Robotheca from the project's README (opens in a new tab) at commit eda96e2.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 24 Jan 2026 on ros2
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.