Only released in EOL distros:  

pr2_object_manipulation: active_realtime_segmentation | fast_plane_detection | manipulation_worlds | object_recognition_gui | object_segmentation_gui | pick_and_place_demo_app | pr2_create_object_model | pr2_grasp_adjust | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_handy_tools | pr2_interactive_gripper_pose_action | pr2_interactive_manipulation | pr2_interactive_object_detection | pr2_manipulation_controllers | pr2_marker_control | pr2_navigation_controllers | pr2_object_manipulation_launch | pr2_object_manipulation_msgs | pr2_pick_and_place_demos | pr2_tabletop_manipulation_launch | pr2_wrappers | rgbd_assembler | robot_self_filter_color | segmented_clutter_grasp_planner | simple_Jtranspose_controller | tabletop_collision_map_processing | tabletop_object_detector | tabletop_vfh_cluster_detector | vfh_recognition | vfh_recognizer_db | vfh_recognizer_fs

Package Summary

Contains PR2-specific implementations of some of the generic functionality needed for pickup and place tasks.

pr2_object_manipulation: active_realtime_segmentation | fast_plane_detection | manipulation_worlds | object_recognition_gui | object_segmentation_gui | pick_and_place_demo_app | pr2_create_object_model | pr2_grasp_adjust | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_handy_tools | pr2_interactive_gripper_pose_action | pr2_interactive_manipulation | pr2_interactive_object_detection | pr2_manipulation_controllers | pr2_marker_control | pr2_navigation_controllers | pr2_object_manipulation_launch | pr2_object_manipulation_msgs | pr2_pick_and_place_demos | pr2_pick_and_place_tutorial | pr2_tabletop_manipulation_launch | pr2_wrappers | rgbd_assembler | robot_self_filter_color | segmented_clutter_grasp_planner | tabletop_collision_map_processing | tabletop_object_detector | tf_throttle

Package Summary

Contains PR2-specific implementations of some of the generic functionality needed for pickup and place tasks.

pr2_object_manipulation: interactive_perception_msgs | manipulation_worlds | object_recognition_gui | pr2_create_object_model | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_interactive_gripper_pose_action | pr2_interactive_manipulation | pr2_interactive_manipulation_frontend | pr2_interactive_object_detection | pr2_interactive_object_detection_frontend | pr2_manipulation_controllers | pr2_marker_control | pr2_navigation_controllers | pr2_object_manipulation_launch | pr2_object_manipulation_msgs | pr2_pick_and_place_demos | pr2_tabletop_manipulation_launch | pr2_wrappers | rgbd_assembler | robot_self_filter_color | segmented_clutter_grasp_planner | tabletop_collision_map_processing | tabletop_object_detector | tf_throttle

Package Summary

Contains PR2-specific implementations of some of the generic functionality needed for pickup and place tasks.

In general, PR2 specific implementations contained here will implement general interfaces defined in the object_manipulation stack. Contains PR2 specific launch files for using the manipulation functionality.

Also contains complete sensor processing framework for executing end-to-end manipulation tasks.

Documentation

This stack contains:

  • PR2 gripper-specific implementations for some of the services and actions needed by the object_manipulator. These include:

  • Complete sensor processing framework for all the sensing needed for manipulation. The use of this functionality is described on the tabletop_object_perception page.

  • Launch files and examples for running the manipulation pipeline, including sensor data processing. Tutorials can be found on the pr2_tabletop_manipulation_apps page.

  • pr2_interactive_manipulation: rviz-based teleop for controlling the PR2 robot to do manipulation tasks/driving around

Running the Manipulation Pipeline

To launch the manipulation pipeline complete with sensor input and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in pr2_tabletop_manipulation_apps.

Report a Bug

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

Wiki: pr2_object_manipulation (last edited 2014-10-06 19:05:30 by DevonAsh)