[ros-users] object grasping pipeline and tutorials

Wed Jul 14 22:52:02 UTC 2010

Added some fixes to trunk. Thanks for the feedback, it is really
useful as we prepare the (hopefully) stable 0.2 release.

Adam: there is now a parameter in pr2_tabletop_manipulation.launch:
when starting the tabletop_object_detector node, set use_database to
false and nobody should ever complain about a missing database
connection.

Hao: the problem you were having was actually a fairly deep bug,
should be resolved now..

Matei

On Wed, Jul 14, 2010 at 9:28 AM, Matei Ciocarlie <matei at willowgarage.com> wrote:
> 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
>

-- 
Matei Ciocarlie
Research Scientist
Willow Garage Inc.
650-475-9780