[ros-users] object grasping pipeline and tutorials

Kevin Watts watts at willowgarage.com
Wed Jul 14 04:50:36 UTC 2010 

Hao-
   Was this on a PR2? If it was, you should file a ticket at
support.willowgarage.com. If it was in gazebo, check to make sure you're
launching the right program.

Kevin

On Tue, Jul 13, 2010 at 9:37 PM, Hao Dang <dang at cs.columbia.edu> wrote:

> 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
>> >
>> >
>> > _______________________________________________
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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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