Only released in EOL distros:   indigo jade

About

The rail_grasp_collection package contains nodes to collect demonstration grasps for detected point cloud objects. These demonstrations can then be used to build object models for recognition and manipulation using the rail_recognition package. Demonstrations are stored in a grasp database, handled by graspdb.

Nodes

rail_grasp_collection

Collect demonstrated grasps with associated point clouds and store them in the grasp database.

Action Goal

rail_grasp_collection/grasp_and_store (rail_pick_and_place_msgs/GraspAndStoreGoal)

• Execute a grasp and store the result in the grasp database.

Action Result

rail_grasp_collection/grasp_and_store (rail_pick_and_place_msgs/GraspAndStoreResult)

• Grasp collection result.

Actions Called

gripper_action_server param (rail_manipulation_msgs/GripperAction)

• Close gripper action.

lift_action_server param (rail_manipulation_msgs/LiftAction)

• End effector lifting action.

verify_grasp_action_server param (rail_manipulation_msgs/VerifyGraspAction)

• Determine whether or not a grasp was successful.

Subscribed Topics

segmented_objects_topic param (rail_manipulation_msgs/SegmentedObjectList)

• Incoming segmented object data.

Published Topics

rail_grasp_collection/debug (sensor_msgs/PointCloud2)

• Debug publisher for the segmented point cloud collected on calling the grasp_and_store action.

Parameters

debug (bool, default: false)

• Display debugging information if true.

robot_fixed_frame_id (string, default: "base_footprint")

• Fixed coordinate frame within the robot's coordinate system.

eef_frame_id (string, default: "eef_link")

• End effector coordinate frame, used for storing grasp poses.

segmented_objects_topic (string, default: "/segmentation/segmented_objects")

• Topic for incoming segmented object data.

gripper_action_server (string, default: "/manipulation/gripper")

• Action server topic for controlling the robot's end effector.

lift_action_server (string, default: "/manipulation/lift")

• Action server topic for raising the end effector.

verify_grasp_action_server (string, default: "/manipulation/verify_grasp")

• Action server topic for verifying whether or not a grasp was successful.

/graspdb/host (string, default: "127.0.0.1")

• Grasp database host ip.

/graspdb/port (int, default: graspdb::Client::DEFAULT_PORT)

• Grasp database port.

/graspdb/user (string, default: "ros")

• Grasp database username.

/graspdb/password (string, default: "")

• Grasp database password.

/graspdb/db (string, default: "graspdb")

• Grasp database name.

rail_grasp_retriever

Retrieve stored grasps from the grasp database training set.

Action Goal

rail_grasp_retriever/retrieve_grasp (rail_pick_and_place_msgs/RetrieveGraspDemonstrationGoal)

• Retrieve a specified grasp demonstration from the grasp database.

Action Result

rail_grasp_retriever/retrieve_grasp (rail_pick_and_place_msgs/RetrieveGraspDemonstrationResult)

• Retrieved grasp result.

Published Topics

rail_grasp_retriever/point_cloud (sensor_msgs/PointCloud2)

• Retrieved point cloud.

rail_grasp_retriever/pose (geometry_msgs/PoseStamped)

• Retrieved grasp pose.

Parameters

/graspdb/host (string, default: "127.0.0.1")

• Grasp database host ip.

/graspdb/port (int, default: graspdb::Client::DEFAULT_PORT)

• Grasp database port.

/graspdb/user (string, default: "ros")

• Grasp database username.

/graspdb/password (string, default: "")

• Grasp database password.

/graspdb/db (string, default: "graspdb")

• Grasp database name.

Installation

To install the rail_pick_and_place package, you can install from source with the following commands:

•    1 cd /(your catkin workspace)/src
     2 git clone https://github.com/WPI-RAIL/rail_pick_and_place.git
     3 cd ..
     4 catkin_make
     5 catkin_make install
  

Startup

The rail_grasp_collection package contains launch files for launching either the rail_grasp_collection node or the rail_grasp_retriever node individually, and for launching both nodes together. These can be launched with the following commands, respectively:

• roslaunch rail_grasp_collection rail_grasp_collection.launch

• roslaunch rail_grasp_collection rail_grasp_retriever.launch

• roslaunch rail_grasp_collection rail_grasp_collection_and_retriever.launch

Grasp collection can also be run and executed with an rviz plugin found in rail_pick_and_place_tools.