| Note: This tutorial assumes that you have completed the previous tutorials: Building maps for TidyupRobot. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Teaching locations for TidyupRobot
Description: This tutorial describes how to teach the PR2 locations to tidy up.Keywords: tidyup, tidyup_tools, planning
Tutorial Level: ADVANCED
Startup
On the robot: launch the default config without move base:
rosrun tidyup_tools sbpl_config_writer tidyup_launch_tut roslaunch tidyup_executive reality.launch config_pkg:=`rospack find tidyup_launch_tut` rosrun pr2_tasks move_arms_to_side.py
On the basestation: start the table detector and teaching gui:
rosrun tidyup_tools record_table_service.py rosrun tidyup_tools tidyupTeachingGui
Teaching
Position the robot in front of each table and "Record Manipulation Location". For the tidy location that object should be brought to "Record Tidy Manipulation Location". If you drive through the door in between, you need to set the room to the current room name (must not contain _).
For the door, position the robot in front of the door towards it and "Record Door Location". You will be asked for a unique door name. Also do not forget to set the room attribute.
When finished, choose "Write package" and select tidyup_launch_tut. A configuration for move_base (using sbpl), target locations and tables will be written.
