[ros-users] object grasping pipeline and tutorials

Hao Dang dang at cs.columbia.edu
Wed Jul 14 04:37:20 UTC 2010 

Oh, I missed that!  Cool!  Now the pipeline starts smoothly.  It can now
detect objects.

When the robot is asked to pick up an object, it could not go through the
trajectory planning.  It failed saying

[ERROR] [1279068281.779713681]: Joint 'r_gripper_joint' not found
[pr2_right_arm_kinematics-10] process has died [pid 23164, exit code -11].
log files:
/u/dah1pal/.ros/log/3451ac2c-8ec8-11df-ac12-001517becadf/pr2_right_arm_kinematics-10*.log

Probably there is something incorrect with my launching the program?

I haven't had time to delve into the code and I will also look into the code
more tomorrow.

Thank you so much!

Hao


On Tue, Jul 13, 2010 at 5:14 PM, Matei Ciocarlie <matei at willowgarage.com>wrote:

> 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
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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
> >
> >
> > _______________________________________________
> > 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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