Error while trying to request a GraspPlanning service

[gstavrinos]

Dear Josh,

I am trying to call a GraspPlanning service but I fail terribly.

My code related to the service is this:

init_node("code_snippet")
    planning_srv = ServiceProxy("/graspit_eg_planning", GraspPlanning)
    wait_for_service("/graspit_eg_planning")
dbmp = DatabaseModelPose()
    #dbmp.mode_id = 
    #dbmp.model_pose = 
    dbmp.confidence = 1
    dbmp.detector_name = "manual_detection"
planning_req = GraspPlanningRequest()
    planning_req.arm_name = "arm"
    planning_req.target.reference_frame_id = "0"
    planning_req.target.potential_models = [dbmp]
    planning_req.target = GraspableObject()
    planning_req.target.region = SceneRegion()
    planning_req.target.region.cloud = PointCloud2()

     response = planning_srv(planning_req)

And I get this error:

SerializationError('field target.region.cloud.data must be a list or tuple type',)

Any thoughts??

Thanks,

George

[gstavrinos]

MWE:

 using RobotOS
 
 @rosimport manipulation_msgs.srv: GraspPlanning
 
 rostypegen()

 using .manipulation_msgs.srv
 
 init_node("MWE")
 
 planning_srv = ServiceProxy("tmp", GraspPlanning)
 
 planning_srv(GraspPlanningRequest())