[ros-users] object grasping pipeline and tutorials

Tue Jul 20 12:59:05 UTC 2010

Uhm, found my answer to the first question...

Rene

2010/7/20 René Ladan <r.c.ladan at gmail.com>:
> I'm running database_interface, household_objects_database, and
> tabletop_object_detector
> from trunk now, the rest of the installation is c-turtle.
>
> Two questions:
> * what is the topic name of the pointcloud2 message?
> * what is the SQL scheme of the object database?
>
> Rene
>
> 2010/7/15 Matei Ciocarlie <matei at willowgarage.com>:
>> 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
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>>>>
>>>
>>>
>>>
>>> --
>>> 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
>>
>