Only released in EOL distros:
Quick overhead grasping for the PR2. Objects are percieved using the tabletop_object_detector package and grasped from above using interpolated IK, modified to keep the elbows up. Collisions are detected by monitoring joint errors using thresholds learned by sampling different "empty grasps".
- Author: Kelsey Hawkins, Advisor: Prof. Charlie Kemp (Healthcare Robotics Lab at Georgia Tech)
- License: BSD
- Source: git https://code.google.com/p/gt-ros-pkg.hrl/ (branch: master)
Using the Grasper
roslaunch pr2_grasp_behaviors overhead_grasping_server_trained.launch rosrun pr2_grasp_behaviors test_grasp_action.py r reg_test