Uhm, found my answer to the first question... Rene 2010/7/20 René Ladan : > 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 >> >