By the way, we did not install fingertip sensor on the grippers.<br><br><div class="gmail_quote">On Tue, Jul 13, 2010 at 2:53 PM, Hao Dang <span dir="ltr"><<a href="mailto:dang@cs.columbia.edu">dang@cs.columbia.edu</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">Hi Matei,<br><br>I checked out the most recent code from the repository. They compiled smoothly. But when I ran<div class="im">
<br><br> roslaunch pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch<br><br></div>The program suspended and waits for some action client to be there. Following are the ROS_INFO printed out.<br>
<br> [INFO] 1279057792.398460: controller manager: waiting for l_gripper_fingersensor_controller/gripper_action to be there<br> [INFO] 1279057667.219776: controller manager: waiting for r_gripper_fingersensor_controller/gripper_action to be there<br>
<br>I checked by<br><br> rostopic list | grep l_gripper<br><br>and found there are topics for the actions mentioned above. Following are just part of the output related to the specific topic<br><br> /r_gripper_fingersensor_controller/gripper_action/cancel<br>
/r_gripper_fingersensor_controller/gripper_action/feedback<br> /r_gripper_fingersensor_controller/gripper_action/goal<br> /r_gripper_fingersensor_controller/gripper_action/result<br> /r_gripper_fingersensor_controller/gripper_action/status<br>
<br>Do you have any idea of what we should explore to solve this? Thanks,<br><font color="#888888"><br>Hao</font><div><div></div><div class="h5"><br><br><br><div class="gmail_quote">On Mon, Jul 12, 2010 at 10:28 AM, Matei Ciocarlie <span dir="ltr"><<a href="mailto:matei@willowgarage.com" target="_blank">matei@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">Hi Adam,<br>
<br>
The entire grasping pipeline has undergone significant rewriting in<br>
preparation for release. We are hoping to do an 0.2 release of it at<br>
the end of this week, complete with documentation, a stable API, etc.<br>
<br>
In the meantime, if you wanted to be an "early adopter" and check out<br>
the 0.1 version that would be great, as your feedback would help us<br>
for 0.2. You can get the most up to date version using the following<br>
.rosinstall overlay file:<br>
<br>
<a href="https://code.ros.org/svn/wg-ros-pkg/trunk/rosinstall_files/cturtle/pr2_manipulation-cturtle-pr2all-overlay-devel.rosinstall" target="_blank">https://code.ros.org/svn/wg-ros-pkg/trunk/rosinstall_files/cturtle/pr2_manipulation-cturtle-pr2all-overlay-devel.rosinstall</a><br>
<br>
To use an overlay file, you would first do a normal ROS insallation<br>
(of cturtle in this case), then use the overlay file like this:<br>
<br>
rosinstall target_directory overlay_file_path<br>
<br>
And be sure to prepend the target directory to your ROS_PACKAGE_PATH<br>
<br>
To start the manipulation pipeline, use<br>
<br>
roslaunch pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch<br>
<br>
There is no documentation on the wiki yet (we are writing it this<br>
week) but the code itself is well documented. You can get an idea of<br>
how to run it bu looking in the package pr2_pick_and_place_demos,<br>
which contains both Python and C++ examples.<br>
<br>
Let me know if you have any questions, we'll be glad to assist you.<br>
<br>
Matei<br>
<div><div></div><div><br>
On Sat, Jul 10, 2010 at 2:24 PM, Adam Leeper <<a href="mailto:aleeper@stanford.edu" target="_blank">aleeper@stanford.edu</a>> wrote:<br>
> Hi-<br>
> I was trying to follow this tutorial to grab things in<br>
> simulation: <a href="http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20the%20object%20pickup%20pipeline" target="_blank">http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20the%20object%20pickup%20pipeline</a><br>
> but it seems the names of the packages have changed (I realize that tutorial<br>
> was last edited February 4th...). Anyway, I found the pr2_arm_navigation<br>
> stack but can't seem to find anything directly related to what is referenced<br>
> in the tutorial.<br>
> I realize the whole stack is probably still going through a lot of changes,<br>
> but do the launch files from that tutorial still exist in some form? What is<br>
> the "easy" way of trying out some basic grasping?<br>
> Thanks,<br>
> Adam<br>
><br>
><br>
> Adam Leepercoffee<br>
> Stanford University<br>
> <a href="mailto:aleeper@stanford.edu" target="_blank">aleeper@stanford.edu</a><br>
> 719.358.3804<br>
><br>
</div></div><div>> _______________________________________________<br>
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><br>
><br>
<br>
<br>
<br>
--<br>
</div><font color="#888888">Matei Ciocarlie<br>
Research Scientist<br>
Willow Garage Inc.<br>
650-475-9780<br>
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