[ros-users] object grasping pipeline and tutorials

Tue Jul 20 16:19:09 UTC 2010

Rene,

I could send you the schema as it is right now, but we are currently
in the process of changing it for the upcoming release. Before the end
of this week, the released (and more stable) version should be
available for download. Let me know if you would rather have the
current schema, and I can email it to you.

Matei

On Tue, Jul 20, 2010 at 5:59 AM, René Ladan <r.c.ladan at gmail.com> wrote:
> 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
>>>>>
>>>>>
>>>>> _______________________________________________
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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
>>>
>>
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-- 
Matei Ciocarlie
Research Scientist
Willow Garage Inc.
650-475-9780