anygrasp_ros

ROS 2 wrappers for AnyGrasp detection and tracking.

The devcontainer is based on pytorch/pytorch:2.10.0-cuda12.6-cudnn9-devel image and provides

• Pytorch 2.10
• CUDA 12.6
• CUDNN9
• ROS Jazzy (Base container is ubuntu 24.04)
• chenxi-wang/MinkowskiEngine
• CollaborativeRoboticsLab/graspnetAPI
• graspnet/anygrasp_sdk

Creating docker network

To have a stable feature id for the anygrasp license, we utilize built-in docker network bridge and a fixed mac address. For the dev container, this is represented by following config. Change the given mac address as required.

  "runArgs": [
    "--network=bridge",
    "--mac-address=02:42:de:ad:be:ef"
  ]

Building container

Install VSCode and add the DevContainer addon.

Clone this repo and open using VSCode. Generally VScode should auto detect, if not press Shift+Ctrl+P to open the command palette and select "DevContainer: Rebuild and Reopen the container" option.

Adding license

Once the Container is built, run the license_checker function from anygrasp_sdk and apply for the license following the steps from here.

Following commands will help to run the license_checker within the dev container.

/dependencies/anygrasp_sdk/license_registration/license_checker -f

Once you fill the form and receive the license zip file, unzip and copy it to the /license folder within the cloned repo (Not inside the container). Devcontainer has been configured to mount the license folder into the following locations of the container,

• /dependencies/precompiled/license

To check the license run following command

/dependencies/anygrasp_sdk/license_registration/license_checker -c /dependencies/precompiled/license/licenseCfg.json

Adding model weights

Copy the detection and tracking model weights into weights/detection and weights/tracking folders respectively. These will be mounted into following folders inside the container.

• /dependencies/precompiled/weights/detection allows to run the ros2 packages
• /dependencies/precompiled/weights/tracking allows to run the ros2 packages

This can also be done alongside the prior Adding Licesne step.

Basic testing

Try running the grasp_detection/demo.py and grasp_tracking/demo.py to confirm the process pipeline is working.

Starting the anygrasp detection system

Use the following command to start the anygrasp system

ros2 launch anygrasp_ros detection.launch.py

Starting the anygrasp tracking system

Use the following command to start the anygrasp system

ros2 launch anygrasp_ros tracking.launch.py

Services

The nodes expose these services:

• /anygrasp/detection using anygrasp_msgs/srv/GetGrasps
• /anygrasp/tracking using anygrasp_msgs/srv/GetGraspsTracked

Each service takes a count in the request. Detection returns geometry_msgs/PoseStamped[]; tracking returns int64[] ids aligned with geometry_msgs/PoseStamped[], and accepts input_ids as a list to select specific tracked grasps or [] to update the active set. Each stamped pose copies the source pointcloud header, so the frame is explicit for downstream motion planning.

Visualization

Both nodes publish RViz grasp markers as visualization_msgs/MarkerArray:

• Detection markers: /anygrasp/detection_markers
• Tracking markers: /anygrasp/tracking_markers

Add either topic as a MarkerArray display in RViz to inspect grasp poses and IDs in 3D.

More information

• Service Messages
• Grasp Detection
• Grasp Tracking