[ros-users] object grasping pipeline and tutorials

[Hao Dang]

Hi Matei,

I checked out the most recent code from the repository.  They compiled
smoothly.  But when I ran

    roslaunch pr2_tabletop_manipulation_launch
pr2_tabletop_manipulation.launch

The program suspended and waits for some action client to be there.
Following are the ROS_INFO printed out.

    [INFO] 1279057792.398460: controller manager: waiting for
l_gripper_fingersensor_controller/gripper_action to be there
    [INFO] 1279057667.219776: controller manager: waiting for
r_gripper_fingersensor_controller/gripper_action to be there

I checked by

    rostopic list | grep l_gripper

and found there are topics for the actions mentioned above.  Following are
just part of the output related to the specific topic

    /r_gripper_fingersensor_controller/gripper_action/cancel
    /r_gripper_fingersensor_controller/gripper_action/feedback
    /r_gripper_fingersensor_controller/gripper_action/goal
    /r_gripper_fingersensor_controller/gripper_action/result
    /r_gripper_fingersensor_controller/gripper_action/status

Do you have any idea of what we should explore to solve this?  Thanks,

Hao


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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