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grasp_planning_graspit_ros package from graspit_tools repograsp_planning_graspit grasp_planning_graspit_msgs grasp_planning_graspit_ros graspit_tools jaco_graspit_sample urdf2graspit |
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Package Summary
| Tags | No category tags. |
| Version | 1.2.0 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/JenniferBuehler/graspit-pkgs.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-10-27 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS services for the grasp_planning_graspit package
Additional Links
No additional links.
Maintainers
- Jennifer Buehler
Authors
- Jennifer Buehler
grasp_planning_graspit_ros
ROS wrapper for GraspIt! planning interface in the package grasp_planning_graspit. Also provides ROS services for accessing the interface.
Please refer to this wiki page for more information.
CHANGELOG
Changelog for package grasp_planning_graspit_ros
1.2.0 (2018-01-06)
1.1.3 (2018-01-05)
- Adaptation for graspit upstream merge
- Changed link/finger names for new jaco
- Contributors: Jennifer Buehler
1.1.1 (2016-08-07)
1.1.0 (2016-07-26)
1.0.0 (2016-06-08)
- Now compiles with new graspit and new urdf2inventor
- Contributors: Jennifer Buehler
0.1.5 (2016-04-02)
- Added pre-grasp state computation
- Added helper class EigenGraspPlannerClient and some example grasp results for Jaco
- Now support addition of an auto-grasp as finalization of grasp planning, and control of how many results are saved
- Added means to save a Grasp.msg and added a table obstacle
- Contributors: Jennifer Buehler
0.1.3 (2016-03-08)
- added launch directory installs
- Adapted cmake file to for jenkins, and removed c++11 flag, which required fixing two little things in sources
- Contributors: Jennifer Buehler
0.1.2 (2016-03-04)
0.1.0 (2016-03-02)
- roslinted
- graspit fork is now compiled into libraries here and doesn\'t need to be installed separately
- Contributors: Jennifer Buehler
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | grasp_planning_graspit | |
| 1 | grasp_planning_graspit_msgs | |
| 1 | moveit_msgs | |
| 1 | roscpp | |
| 1 | roslint | |
| 1 | catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| graspit_tools | github-JenniferBuehler-graspit-pkgs |
Launch files
- test/graspit_add_robot_example.launch
-
- robot_name [default: jaco_robot]
- robot_file [default: $(find jaco_graspit_sample)/models/robots/jaco_robot/jaco_robot.xml]
- finger_names [default: jaco_finger_joint_0 jaco_finger_joint_2 jaco_finger_joint_4]
- test/graspit_load_models_example.launch
-
- robot_id [default: 1]
- object_id [default: 2]
- table_id [default: 3]
- load_table [default: false]
- rbt_x [default: 0]
- rbt_y [default: 0]
- rbt_z [default: 200]
- rbt_qx [default: 0]
- rbt_qy [default: 0.7071]
- rbt_qz [default: 0]
- rbt_qw [default: 0.7071]
- obj_x [default: 100]
- obj_y [default: 0]
- obj_z [default: 0]
- tbl_x [default: 0]
- tbl_y [default: -250]
- tbl_z [default: 500]
- test/graspit_eigengrasp_planner_client_example.launch
-
- robot_name [default: jaco_robot]
- object_id [default: 2]
- output_dir [default: ]
- test/graspit_add_object_example.launch
-
- object_name [default: small_cube]
- object_file [default: $(find jaco_graspit_sample)/models/objects/small_cube.xml]
- load_table [default: false]
- table_name [default: table]
- table_file [default: $(find jaco_graspit_sample)/models/obstacles/table.xml]
- launch/graspit_planner.launch
-
- use_world_file
- graspit_world_file
- graspit_robot_file
- graspit_object_file
- graspit_planning_algorithm [default: SimAnn]
- max_planning_steps [default: 70000]
- num_repeat_planning [default: 1]
- save_result_files_inventor [default: true]
- save_result_files_graspit [default: true]
- results_output_directory
- launch/grasp_planning_service.launch
-
- config_file [default: $(find grasp_planning_graspit_ros)/config/GraspItServices.yaml]
- node_name [default: graspit_planning_service]
- results_output_directory
- launch/graspit_planner_jaco_example.launch
-
- graspit_world_file [default: $(find jaco_graspit_sample)/worlds/jaco_robot_world.xml]
- graspit_robot_file [default: $(find jaco_graspit_sample)/models/robots/jaco_robot/jaco_robot.xml]
- graspit_object_file [default: $(find jaco_graspit_sample)/models/objects/small_cube.xml]
- graspit_planning_algorithm [default: SimAnn]
- max_planning_steps [default: 70000]
- num_repeat_planning [default: 1]
- save_result_files_inventor [default: true]
- save_result_files_graspit [default: true]
- results_output_directory
- launch/eigengrasp_planner_client_params.launch
-
- node_name
- config_file [default: $(find grasp_planning_graspit_ros)/config/EigenGraspPlannerClient.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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