I'm running database_interface, household_objects_database, and tabletop_object_detector from trunk now, the rest of the installation is c-turtle. Two questions: * what is the topic name of the pointcloud2 message? * what is the SQL scheme of the object database? Rene 2010/7/15 Matei Ciocarlie : > 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 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >