transform point cloud to

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
PickNikRobotics · Apr 12, 2024 · bf390fe · bf390fe
1 parent 342700a
commit bf390fe
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/picknik_ur_site_config/objectives/pick_object.xml b/src/picknik_ur_site_config/objectives/pick_object.xml
@@ -6,6 +6,7 @@
             <Control ID="Sequence">
                 <Action ID="GetPointsFromUser" view_name="/wrist_mounted_camera/color/image_raw" point_names="grasp_pose" point_prompts="Select the object you wish to pick" pixel_coords="{pixel_coords}"/>
                 <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/>
+                <Action ID="TransformPointCloudFrame" output_cloud="{point_cloud}" target_frame="wrist_mounted_camera_color_optical_frame" input_cloud="{point_cloud}"/>
                 <Action ID="GetPoseFromPixelCoords" point_cloud="{point_cloud}" pixel_coords="{pixel_coords}" downsample_fraction="0.1" neighbor_radius="0.1" output_poses="{output_poses}"/>
                 <Action ID="AdjustPoseWithIMarker" prompts="Adjust IMarker to desired pose" initial_poses="{output_poses}" adjusted_poses="{adjusted_poses}"/>
             </Control>