Hi Hao, Are you using the overlay file (manipulation stacks from trunk) or just the cturtle install (manipulation stacks at version 0.1)? Matei On Tue, Jul 13, 2010 at 2:57 PM, Hao Dang wrote: > By the way, we did not install fingertip sensor on the grippers. > > On Tue, Jul 13, 2010 at 2:53 PM, Hao Dang wrote: >> >> Hi Matei, >> >> I checked out the most recent code from the repository.  They compiled >> smoothly.  But when I ran >> >>     roslaunch pr2_tabletop_manipulation_launch >> pr2_tabletop_manipulation.launch >> >> The program suspended and waits for some action client to be there. >> Following are the ROS_INFO printed out. >> >>     [INFO] 1279057792.398460: controller manager: waiting for >> l_gripper_fingersensor_controller/gripper_action to be there >>     [INFO] 1279057667.219776: controller manager: waiting for >> r_gripper_fingersensor_controller/gripper_action to be there >> >> I checked by >> >>     rostopic list | grep l_gripper >> >> and found there are topics for the actions mentioned above.  Following are >> just part of the output related to the specific topic >> >>     /r_gripper_fingersensor_controller/gripper_action/cancel >>     /r_gripper_fingersensor_controller/gripper_action/feedback >>     /r_gripper_fingersensor_controller/gripper_action/goal >>     /r_gripper_fingersensor_controller/gripper_action/result >>     /r_gripper_fingersensor_controller/gripper_action/status >> >> Do you have any idea of what we should explore to solve this?  Thanks, >> >> Hao >> >> >> On Mon, Jul 12, 2010 at 10:28 AM, Matei Ciocarlie >> wrote: >>> >>> Hi Adam, >>> >>> The entire grasping pipeline has undergone significant rewriting in >>> preparation for release. We are hoping to do an 0.2 release of it at >>> the end of this week, complete with documentation, a stable API, etc. >>> >>> In the meantime, if you wanted to be an "early adopter" and check out >>> the 0.1 version that would be great, as your feedback would help us >>> for 0.2. You can get the most up to date version using the following >>> .rosinstall overlay file: >>> >>> >>> https://code.ros.org/svn/wg-ros-pkg/trunk/rosinstall_files/cturtle/pr2_manipulation-cturtle-pr2all-overlay-devel.rosinstall >>> >>> To use an overlay file, you would first do a normal ROS insallation >>> (of cturtle in this case), then use the overlay file like this: >>> >>> rosinstall target_directory overlay_file_path >>> >>> And be sure to prepend the target directory to your ROS_PACKAGE_PATH >>> >>> To start the manipulation pipeline, use >>> >>> roslaunch pr2_tabletop_manipulation_launch >>> pr2_tabletop_manipulation.launch >>> >>> There is no documentation on the wiki yet (we are writing it this >>> week) but the code itself is well documented. You can get an idea of >>> how to run it bu looking in the package pr2_pick_and_place_demos, >>> which contains both Python and C++ examples. >>> >>> Let me know if you have any questions, we'll be glad to assist you. >>> >>> Matei >>> >>> On Sat, Jul 10, 2010 at 2:24 PM, Adam Leeper >>> wrote: >>> > Hi- >>> > I was trying to follow this tutorial to grab things in >>> > >>> > simulation: http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20the%20object%20pickup%20pipeline >>> > but it seems the names of the packages have changed (I realize that >>> > tutorial >>> > was last edited February 4th...). Anyway, I found the >>> > pr2_arm_navigation >>> > stack but can't seem to find anything directly related to what is >>> > referenced >>> > in the tutorial. >>> > I realize the whole stack is probably still going through a lot of >>> > changes, >>> > but do the launch files from that tutorial still exist in some form? >>> > What is >>> > the "easy" way of trying out some basic grasping? >>> > Thanks, >>> > Adam >>> > >>> > >>> > Adam Leepercoffee >>> > Stanford University >>> > aleeper@stanford.edu >>> > 719.358.3804 >>> > >>> > _______________________________________________ >>> > ros-users mailing list >>> > ros-users@code.ros.org >>> > https://code.ros.org/mailman/listinfo/ros-users >>> > >>> > >>> >>> >>> >>> -- >>> Matei Ciocarlie >>> Research Scientist >>> Willow Garage Inc. >>> 650-475-9780 >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Matei Ciocarlie Research Scientist Willow Garage Inc. 650-475-9780