[ros-users] object grasping pipeline and tutorials

Hao Dang dang at cs.columbia.edu
Tue Jul 13 21:57:53 UTC 2010


By the way, we did not install fingertip sensor on the grippers.

On Tue, Jul 13, 2010 at 2:53 PM, Hao Dang <dang at cs.columbia.edu> 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 <matei at willowgarage.com>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 <aleeper at stanford.edu>
>> 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 at stanford.edu
>> > 719.358.3804
>> >
>> > _______________________________________________
>> > ros-users mailing list
>> > ros-users at 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 at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>
>
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