Hi Hao, Try starting the pick_and_place_keyboard_interface using its launch file: roslaunch pr2_pick_and_place_demos pick_and_place_keyboard_interface.launch Matei On Tue, Jul 13, 2010 at 4:41 PM, Hao Dang wrote: > Yes, I did several check-outs today and saw the versions changed.  I just > checked out the most recent version.  The problem seemed disappear.  Thank > you for making this out so fast. > > However, sorry to use this word, after I rosrun pr2_pick_and_place_demos > pick_and_place_keyboard_interface, > > When I tried to move the right arm to the side, I got > [ INFO] [1279063864.999954115]: waitForService: Service > [/right_arm/get_ik_solver_info] has not been advertised, waiting... > > When I tried to close the gripper on the right arm, I got > [ INFO] [1279063889.385763753]: Waiting for action client > right_arm/hand_posture_execution, remapped to > /right_arm/hand_posture_execution > > I checked rostopic list, and there is NO such a topic called /right_arm/... > Maybe there is some other update missing? > > The ROS we are using on the PR2 is now 1.1.14 > > The svn info inside object_manipulation stack gave me > >   URL: https://code.ros.org/svn/wg-ros-pkg/stacks/object_manipulation/trunk >   Repository Root: https://code.ros.org/svn/wg-ros-pkg >   Repository UUID: 7275ad9f-c29b-430a-bdc5-66f4b3af1622 >   Revision: 40906 >   Node Kind: directory >   Schedule: normal >   Last Changed Author: kaijenhsiao >   Last Changed Rev: 40851 >   Last Changed Date: 2010-07-12 22:13:18 -0700 (Mon, 12 Jul 2010) > > > Thank you! > > Hao > > > On Tue, Jul 13, 2010 at 4:22 PM, Matei Ciocarlie > wrote: >> >> I assume you checked out those stacks from trunk - we are currently >> pushing hard to get to the 0.2 release, so trunk might be occasionally >> unstable. Thanks for checking it out, it will help us weed out >> problems for the 0.2 release, which is (optimistically) programmed for >> the end of this week. >> >> Just to be sure, if you do an svn info in object_manipulation, what do you >> get? >> >> Anyway, we think we have fixed the problem you were having, could you >> please svn update in all those stacks and try again? >> >> Matei >> >> On Tue, Jul 13, 2010 at 4:16 PM, Hao Dang wrote: >> > Hi Matei, >> > >> > Basically what I did is >> > >> > checked out all the following stacks >> > >> > slipgrip_controller, >> > object_manipulation, >> > sql_database, >> > pr2_object_manipulation, >> > tabletop_object_perception, >> > pr2_tabletop_manipulation_apps >> > pr2_gripper_fingersensor_action >> > >> > I did not use rosinstall.  All of the stacks above are overlayed on the >> > other stacks. >> > >> > Was there anything not correct in the installation? >> > >> > >> > PS: >> > >> > And this brings me to thinking of another similar problem we met here >> > running the ICRA manipulation pipeline code. >> > >> > When the robot is trying to grasp an object, it goes to its pre-grasp >> > successfully.  But SOMETIMES, at that point, it stops and waits for some >> > action client.   Sometimes, it continues to the final grasp pose and >> > executes the grasp.  Following is the action client it is waiting for. >> > >> >     [ INFO] [1279059104.753304766]: Waiting for action client: >> > r_arm_controller/joint_trajectory_action >> > >> > Also, we checked the rostopic and we found this action. >> > >> > I am not sure whether these two situations are very related or not. >> > >> > >> > Hao >> > >> > >> > >> > >> > >> > On Tue, Jul 13, 2010 at 4:02 PM, Matei Ciocarlie >> > >> > wrote: >> >> >> >> 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 >> >> _______________________________________________ >> >> 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 >> _______________________________________________ >> 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