[ros-users] Using the household_object_database at WG

[Nikolas Engelhard]

Hello

I'm trying to understand the PR2 Pick&Place Demo (yet only
in gazebo and diamondback). One of my problems is the
household_objects_database:

The tutorial (
http://www.ros.org/wiki/household_objects_database/Tutorials/Use%20the%20household_objects_database%20remotely%20from%20a%20Willow%20Garage%20server
)
lists some example commands which only partially work for
me:

The launch returns: 

engelhar at dickmann:~$ roslaunch household_objects_database
objects_database_remote_client.launch
... logging to
/home/engelhar/.ros/log/3d635c2e-8793-11e0-94b3-002618fd30f2/roslaunch-dickmann-19171.log
Checking log directory for disk usage. This may take
awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dickmann:58141/

SUMMARY
========

PARAMETERS
 * /rosversion
 * /rosdistro

NODES
  /
    remap_db_service_1
(household_objects_database/register.py)
    remap_db_service_2
(household_objects_database/register.py)
    remap_db_service_3
(household_objects_database/register.py)
    remap_db_service_4
(household_objects_database/register.py)

auto-starting new master
process[master]: started with pid [19190]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3d635c2e-8793-11e0-94b3-002618fd30f2
process[rosout-1]: started with pid [19203]
started core service [/rosout]
process[remap_db_service_1-2]: started with pid [19211]
process[remap_db_service_2-3]: started with pid [19216]
process[remap_db_service_3-4]: started with pid [19217]
process[remap_db_service_4-5]: started with pid [19218]
[remap_db_service_1-2] process has finished cleanly.
log file:
/home/engelhar/.ros/log/3d635c2e-8793-11e0-94b3-002618fd30f2/remap_db_service_1-2*.log
[remap_db_service_2-3] process has finished cleanly.
log file:
/home/engelhar/.ros/log/3d635c2e-8793-11e0-94b3-002618fd30f2/remap_db_service_2-3*.log
[remap_db_service_3-4] process has finished cleanly.
log file:
/home/engelhar/.ros/log/3d635c2e-8793-11e0-94b3-002618fd30f2/remap_db_service_3-4*.log
[remap_db_service_4-5] process has finished cleanly.
log file:
/home/engelhar/.ros/log/3d635c2e-8793-11e0-94b3-002618fd30f2/remap_db_service_4-5*.log

The first test-command works as expected:

engelhar at dickmann:~$ rosservice call
/objects_database_node/get_model_list REDUCED_MODEL_SET
return_code: 
  code: -1
model_ids: [18665, 18685, 18691, 18693, 18699, 18744,
18746, 18765, 18766, 18783, 18798, 18799, 18800, 18802,
18807, 18808]


But the second doesn't:
engelhar at dickmann:~$ rosservice call
/objects_database_node/database_grasp_planning "{arm_name:
right_arm, target: {type: 1, model_pose:{model_id: 18744 }
} }"
ERROR: Incompatible arguments to call service:
No field name [target.model_pose]
Provided arguments are:
 * {'arm_name': 'right_arm', 'target': {'model_pose':
{'model_id': 18744}, 'type': 1}} (type dict)

Service arguments are: [arm_name target.reference_frame_id
target.potential_models target.cluster.header.seq
target.cluster.header.stamp target.cluster.header.frame_id 
(...)
target.region.cam_info.roi.width
target.region.cam_info.roi.do_rectify collision_object_name
collision_support_surface_name grasps_to_evaluate]


Has anyone used this launch-file (on diamondback) and got
the listed answer?

Cheers,
    Nikolas