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Package Summary
| Tags | No category tags. |
| Version | 4.3.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/start-jsk/jsk_apc.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-01-16 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Paper filing with Baxter
Additional Links
No additional links.
Maintainers
- Shun Hasegawa
Authors
No additional authors.
baxter_paper_filing
Filing a paper by baxterlgv8 (baxter with left gripper-v8).
Installation
Execution
roslaunch baxter_paper_filing baxterlgv8.launch
roslaunch baxter_paper_filing setup_for_paper_filing.launch
roseus `rospack find baxter_paper_filing`/euslisp/paper-filing.l
# In Euslisp interpreter
(paper-filing-init :ctype :larm-head-controller :moveit t)
(send *ti* :mainloop)
Demo with roseus_resume
Installation with roseus_resume
- Setup roseus_resume
- Merge jsk_apc workspace into roseus_resume workspace:
cd ~/roseus_resume_ws/src/
wstool merge https://raw.githubusercontent.com/start-jsk/jsk_apc/master/fc.rosinstall.${ROS_DISTRO}
wstool update
cd ..
rosdep install -y -r --from-paths .
catkin build
source ~/roseus_resume_ws/devel/setup.bash
Execution
roslaunch baxter_paper_filing baxterlgv8.launch ready_for_roseus_resume:=true
roslaunch baxter_paper_filing setup_for_paper_filing.launch
roseus `rospack find baxter_paper_filing`/euslisp/paper-filing-roseus-resume.l
# In Euslisp interpreter
(paper-filing-init :ctype :larm-head-controller :moveit t)
(send *ti* :mainloop)
Sensor Evaluation Experiments
Installation
Execution
# Distance Measurement
roseus `rospack find baxter_paper_filing`/euslisp/baxterlgv8-sensor-eval.l
## In Euslisp interpreter
(instance-init)
(dist-eval-init)
(dist-eval)
# Picking Up a Paper
roseus `rospack find baxter_paper_filing`/euslisp/baxterlgv8-sensor-eval.l
## In Euslisp interpreter
(instance-init)
(pick-paper-init)
(pick-paper)
# Picking Up a Paper Box
roseus `rospack find baxter_paper_filing`/euslisp/baxterlgv8-sensor-eval.l
## In Euslisp interpreter
(instance-init)
(pick-paper-init)
(pick-paper-box)
# Picking Up a Paper Box with Conventional Reflection Intensity Sensor
roseus `rospack find baxter_paper_filing`/euslisp/baxterlgv8-sensor-eval.l
## In Euslisp interpreter
(instance-init)
(pick-paper-init)
(pick-paper-box :intensity t)
# Grasping a Paper Box with PR2 tactile sensor
roseus `rospack find baxter_paper_filing`/euslisp/pr2-grasp-paper-box.l
## In Euslisp interpreter
(grasp-paper-box-init :inst t)
(grasp-paper-box)
Video
See here
Citation
@ARTICLE{hasegawa2020online,
author={Hasegawa, Shun and Yamaguchi, Naoya and Okada, Kei and Inaba, Masayuki},
journal={IEEE Robotics and Automation Letters},
title={Online Acquisition of Close-Range Proximity Sensor Models for Precise Object Grasping and Verification},
year={2020},
volume={5},
number={4},
pages={5993-6000},
doi={10.1109/LRA.2020.3010440}
}
CHANGELOG
Changelog for package baxter_paper_filing
4.3.0 (2021-07-14)
- Merge pull request #2751 from knorth55/fix-version fix version in demo packages
- Merge branch 'master' into add-sleep
- fix version in demo packages change to 4.2.1 for all other jsk_apc packages
- Merge pull request #2749 from pazeshun/baxter-paper-filing Add software of my RA-L paper (baxter_paper_filing)
- [baxter_paper_filing] Add README
- [baxter_paper_filing] Add roseus_resume example based on https://github.com/pazeshun/jsk_apc/tree/baxterlgv8-book-picking-roseus-resume
- [baxter-paper-filing] Re-support intensity-based method in picking paper box
- [baxter_paper_filing] Support old msg in play_rosbag & display refl. in rviz
- [baxter-paper-filing] Re-calibrate left hand camera
- [baxter_paper_filing] Adjust paper filing motions
- [baxter_paper_filing] Utilize reflectance param in paper filing
- [baxter-paper-filing] Add grasping paper box with PR2
- [baxter_paper_filing] Utilize reflectance param & add paper box picking
- Add baxter_paper_filing package based on https://github.com/pazeshun/jsk_apc/tree/baxterlgv8-book-picking
- Contributors: Shingo Kitagawa, Shun Hasegawa
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| jsk_arc2017_baxter | |
| sphand_driver |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/baxterlgv8.launch
-
- ready_for_roseus_resume [default: false]
- launch/setup_for_paper_filing.launch
-
- load_driver [default: true]
- rviz [default: true]
- old_calib_msg [default: false]
- launch/include/stereo_astra_hand.launch
-
- load_driver [default: true]
- launch_left_hand_stereo [default: true]
- launch_right_hand_stereo [default: true]
- rviz [default: false]
- fuse [default: true]
- launch/play_rosbag.launch
-
- filename
- set_baxter_params [default: true]
- setup_paper_location [default: true]
- launch_setup [default: true]
- rviz [default: true]
- old_calib_msg [default: false]
- launch/include/setup_paper_location.xml
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged baxter_paper_filing at Robotics Stack Exchange
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