7.4.1. find_table_planes.FindTablePlanes

class find_table_planes.FindTablePlanes(*args: Any, **kwargs: Any)

Bases: State

Finds the table planes in the point cloud using the TablePlaneExtractor service.

Returns:

table_bbs (vision_msgs/BoundingBox3DArray) – The bounding boxes of the detected planes. The first one is considered the actual table.
table_plane_equations (list of object_detector_msgs/Plane) – The plane equations of the detected planes.

__init__(enlarge_table_bb_to_floor=True)

Initializes the FindTablePlanes state. Creates a TablePlaneExtractor service proxy.

Parameters:: enlarge_table_bb_to_floor (bool) – If True, the bounding boxes of the tables are enlarged to the floor. This is useful to prevent the robot from colliding with the table legs by creating a box that reaches the floor.

Methods

`__init__`([enlarge_table_bb_to_floor])	Initializes the FindTablePlanes state.
`execute`(userdata)	Waits for a point cloud and calls the TablePlaneExtractor service.

execute(userdata)

Waits for a point cloud and calls the TablePlaneExtractor service.