Added some fixes to trunk. Thanks for the feedback, it is really useful as we prepare the (hopefully) stable 0.2 release. Adam: there is now a parameter in pr2_tabletop_manipulation.launch: when starting the tabletop_object_detector node, set use_database to false and nobody should ever complain about a missing database connection. Hao: the problem you were having was actually a fairly deep bug, should be resolved now.. Matei On Wed, Jul 14, 2010 at 9:28 AM, Matei Ciocarlie wrote: > In order to use the database of models, and thus attempt object > recognition and execution of precomputed grasps, you need access to a > database server. Our server at Willow is currently behind the > firewall, which is why you can not connect to it. We are hoping to fix > this next week, along with 0.2 release. > > For now, there are two options: > 1)  you can install the database on one of your local machines (or > even on the robot itself). You can find instructions for installing a > PostgreSQL server on a ubuntu machine here: > > http://www.ros.org/wiki/icra_manipulation_demo/Tutorials/Install%20the%20model%20database%20server%20on%20a%20new%20robot > > after you are done with the installation of the server, let me know > and I will provide the database backup file. > > 2) do not perform object recognition and grasp objects as unknown > point clusters. I need to put in a flag somewhere in the detection > code so that if the database is not present, it will just default to > this other option instead of crashing. I will do that later today. > > Matei > > On Wed, Jul 14, 2010 at 9:04 AM, Adam Leeper wrote: >> I tried this and got these errors. Am I missing some files you have there >> locally? >> process[tabletop_node-35]: started with pid [8301] >> [ERROR] [WallTime: 1279072996.735706295]: Database connection failed with >> error message: could not connect to server: Connection refused >> Is the server running on host "localhost" and accepting >> TCP/IP connections on port 5432? >> could not connect to server: Connection refused >> Is the server running on host "localhost" and accepting >> TCP/IP connections on port 5432? >> [ERROR] [69.915000000]: Failed to open model database on host localhost, >> port 5432, user willow with password willow, database models >> [FATAL] [69.915000000]: BREAKPOINT HIT >> file = >> /home/aleeper/ros/overlays/tabletop_object_perception/tabletop_object_detector/src/tabletop_node.cpp >> line=241 >> [tabletop_node-35] process has died [pid 8301, exit code -5]. >> >> >> Adam Leeper >> Stanford University >> aleeper@stanford.edu >> 719.358.3804 >> >> >> 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 > -- Matei Ciocarlie Research Scientist Willow Garage Inc. 650-475-9780