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 2022-04-08
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

Install whole jsk_apc

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

  1. Setup roseus_resume
  2. 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

See installation of main demo

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

See ROS Wiki Tutorials for more details.

Source Tutorials

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Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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