successfully applies segmentation input for policy class

2024-10-13 00:37:45 -05:00
parent 0bfb696c1b
commit 0b3d7f2b22
7 changed files with 92 additions and 24 deletions
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -16,6 +16,7 @@ grasp_controller:
    frame_id: camera_depth_optical_frame
    info_topic: /camera/depth/camera_info
    depth_topic: /camera/depth/image_rect_raw
+    seg_topic: /camera/segmentation/image_rect_raw
    min_z_dist: 0.3

 cartesian_velocity_controller: