[ros-users] Using the household_object_database at WG

[Matei Ciocarlie]

Hi Nikolas,

The version of the database available from the remote server
unfortunately only works with cturtle right now - there have been some
minor API changes for diamondback, which is why grasp planning
requests do not work. In the next few weeks we will be releasing the
diamondback version as well.

In the meantime, what you can do is download the diamondback version
of the database and install it on your own Postgres server; details
are here:

http://www.ros.org/wiki/household_objects_database

Best,
Matei

On Thu, May 26, 2011 at 5:48 AM, Nikolas Engelhard
<nikolas.engelhard at saturn.uni-freiburg.de> wrote:
>
> 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
>
>
>
>
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-- 
Matei Ciocarlie
Research Scientist
Willow Garage Inc.
650-475-9780