[ros-users] object grasping pipeline and tutorials

Hao Dang dang at cs.columbia.edu
Wed Jul 14 05:11:25 UTC 2010 

Hi Kevin,

Yes, I did this on a PR2 robot.

When this error was reported, I checked in ROS using

  rosrun pr2_controller_manager pr2_controller_manager list-joints

and saw the  r_gripper_joint was there in the list.

I will go and double check my procedure in the lab first thing tomorrow
morning.

Thank you very much!  That will be a very useful pipeline!

Hao

On Tue, Jul 13, 2010 at 9:50 PM, Kevin Watts <watts at willowgarage.com> wrote:

> 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
>>> >> > 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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>>> > 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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