**3.5 Major software node design**

Based on the software framework design and operation requirements of the dual-arm picking robot, based on the functional division of each part, a vision module, an eye-hand coordination module, and a task planning module are mainly designed and installed in the industrial computer. Each module further refines

**Figure 14.** *Continuous picking status flow.*

the functions and can be divided into functional nodes. Nodes are the minimum functional modules in ROS, which regard as the ultimate goal of the design.
