[ros-users] object grasping pipeline and tutorials

Wed Jul 14 00:14:12 UTC 2010

Hi Hao,

Try starting the pick_and_place_keyboard_interface using its launch file:

roslaunch pr2_pick_and_place_demos pick_and_place_keyboard_interface.launch

Matei

On Tue, Jul 13, 2010 at 4:41 PM, Hao Dang <dang at cs.columbia.edu> wrote:
> 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
>> >> > 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
>
>
> _______________________________________________
> 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