[ros-users] object grasping pipeline and tutorials

[Matei Ciocarlie]

In order to use the database of models, and thus attempt object
recognition and execution of precomputed grasps, you need access to a
database server. Our server at Willow is currently behind the
firewall, which is why you can not connect to it. We are hoping to fix
this next week, along with 0.2 release.

For now, there are two options:
1)  you can install the database on one of your local machines (or
even on the robot itself). You can find instructions for installing a
PostgreSQL server on a ubuntu machine here:

http://www.ros.org/wiki/icra_manipulation_demo/Tutorials/Install%20the%20model%20database%20server%20on%20a%20new%20robot

after you are done with the installation of the server, let me know
and I will provide the database backup file.

2) do not perform object recognition and grasp objects as unknown
point clusters. I need to put in a flag somewhere in the detection
code so that if the database is not present, it will just default to
this other option instead of crashing. I will do that later today.

Matei

On Wed, Jul 14, 2010 at 9:04 AM, Adam Leeper <aleeper at stanford.edu> wrote:
> I tried this and got these errors. Am I missing some files you have there
> locally?
> process[tabletop_node-35]: started with pid [8301]
> [ERROR] [WallTime: 1279072996.735706295]: Database connection failed with
> error message: could not connect to server: Connection refused
> Is the server running on host "localhost" and accepting
> TCP/IP connections on port 5432?
> could not connect to server: Connection refused
> Is the server running on host "localhost" and accepting
> TCP/IP connections on port 5432?
> [ERROR] [69.915000000]: Failed to open model database on host localhost,
> port 5432, user willow with password willow, database models
> [FATAL] [69.915000000]: BREAKPOINT HIT
> file =
> /home/aleeper/ros/overlays/tabletop_object_perception/tabletop_object_detector/src/tabletop_node.cpp
> line=241
> [tabletop_node-35] process has died [pid 8301, exit code -5].
>
>
> Adam Leeper
> Stanford University
> aleeper at stanford.edu
> 719.358.3804
>
>
> 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
>
>
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-- 
Matei Ciocarlie
Research Scientist
Willow Garage Inc.
650-475-9780