[ros-users] object grasping pipeline and tutorials

Fri Jul 16 00:35:49 UTC 2010

Hi Matei-

I went through the PostgreSQL server installation instructions. How do I
access the database now?

Thanks,
Adam

Adam Leeper
Stanford University
aleeper at stanford.edu
719.358.3804

On Thu, Jul 15, 2010 at 4:31 PM, Matei Ciocarlie <matei at willowgarage.com>wrote:

> Yes, those two nodes also need to know not to use the database. I'll
> think of a better way to put those flags in and put a fix in tomorrow.
>
> Thanks for catching these.
>
> Matei
>
> On Thu, Jul 15, 2010 at 3:42 PM, Hai Nguyen <haidai at gmail.com> wrote:
> > I seem to have the same issue.
> >
> > [ERROR] [1279233614.830963377]: Database connection failed with error
> > message: could not translate host name "wgs36" to address: Name or
> > service not known
> >
> > [ERROR] [1279233614.831115827]: Failed to open model database on host
> > wgs36, port 5432, user willow with password willow, database models
> > [FATAL] [1279233614.831195432]: BREAKPOINT HIT
> >        file =
> /u/haidai/svn/grasping_pipeline/object_manipulation/grasp_planner_database/nodes/grasp_planner_database_node.cpp
> >        line=194
> >
> > [grasp_planner_database-17] process has died [pid 9673, exit code -5].
> > log files:
> /u/haidai/.ros/log/37988d08-9060-11df-b494-001517c01a67/grasp_planner_database-17*.log
> > [ INFO] [1279233615.002299804]: Waiting for map ...
> >
> > On Thu, Jul 15, 2010 at 6:34 PM, Adam Leeper <aleeper at stanford.edu>
> wrote:
> >> Hi Matei,
> >>
> >> When I run
> >> roslaunch pr2_tabletop_manipulation_launch
> pr2_tabletop_manipulation.launch
> >>
> >> even though I changed the use_database parameter to false, this error
> still
> >> pops up each time during the launch.
> >>
> >> [ERROR] [674.702000000]: Database connection failed with error message:
> >> could not translate host name "wgs36" to address: Name or service not
> known
> >>
> >> [ERROR] [674.702000000]: Failed to open model database on host wgs36,
> port
> >> 5432, user willow with password willow, database models
> >> [FATAL] [674.702000000]: BREAKPOINT HIT
> >>     file =
> >>
> /home/aleeper/ros/overlays/tabletop_object_perception/tabletop_collision_map_processing/nodes/tabletop_collision_map_processing_node.cpp
> >>     line=173
> >>
> >> [tabletop_collision_map_processing-36] process has died [pid 31557, exit
> >> code -5].
> >> log files:
> >>
> /home/aleeper/.ros/log/9acfc274-905b-11df-8f09-002354971365/tabletop_collision_map_processing-36*.log
> >>
> >>
> >>
> >>
> >> And a result, when I try to run the pick_and_place keyboard demo it gets
> >> stuck here:
> >>
> >> [ INFO] [713.141000000]: waitForService: Service
> >> [/tabletop_collision_map_processing/tabletop_collision_map_processing]
> has
> >> not been advertised, waiting...
> >>
> >>
> >> Do some of the other nodes also need to know that the database is not
> being
> >> used?
> >>
> >> Thanks,
> >> Adam
> >>
> >>
> >>
> >>
> >> Adam Leeper
> >> Stanford University
> >> aleeper at stanford.edu
> >> 719.358.3804
> >>
> >>
> >> On Wed, Jul 14, 2010 at 3:52 PM, Matei Ciocarlie <
> matei at willowgarage.com>
> >> wrote:
> >>>
> >>> 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
> >>> >>
> >>> >>
> >>> >> _______________________________________________
> >>> >> 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
> >>> >
> >>>
> >>>
> >>>
> >>> --
> >>> 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
> >>
> >>
> >
> >
> >
> > --
> > Hai Nguyen
> > CS, Robotics
> > _______________________________________________
> > 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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