Overview

This stack provides the core-functionality for pick and place tasks, implemented in a robot-independent way. For details and documentation, see the object_manipulator package page.

For a complete application, this stack needs to be complemented by

• robot-specific implementations of (a few) specific components. These can be found in the pr2_object_manipulation stack.

• sensor input regarding the environment and the object to be grasped. An implementation of all the sensor data processing needed to run this stack can also be found in the pr2_object_manipulation stack.

Complete applications of the functionality contained here on PR2 robot can be found, along with demos and launch files as well as documentation and tutorials, on the pr2_tabletop_manipulation_apps page.

Documentation

The two main components of this stack are:

• object_manipulator: this package contains most of the core functionality for pickup and place tasks.

• object_manipulation_msgs: defines the generic messages used in the manipulation pipeline.

• household_objects_database: interface to a database of objects for manipulation, containing 3D object models, grasp information, etc.

Running the Manipulation Pipeline

To launch the manipulation pipeline and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided on the pr2_tabletop_manipulation_apps page.

Report a Bug

<<TracLink(wg-ros-pkg object_manipulation)>>