[ros-users] object grasping pipeline and tutorials

Tue Jul 13 23:16:48 UTC 2010

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 <matei at willowgarage.com>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 <dang at cs.columbia.edu> wrote:
> > 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
> >>
> >
> >
> > _______________________________________________
> > 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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