[ros-users] object grasping pipeline and tutorials

Tue Jul 13 23:41:01 UTC 2010

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 <matei at willowgarage.com>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 <dang at cs.columbia.edu> 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 <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
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> >> > 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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> >
> >
>
>
>
> --
> 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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