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 >