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 2018-07-19
Dev Status DEVELOPED
Released RELEASED

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

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

  • 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/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/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/eigengrasp_planner_client_params.launch
      • node_name
      • config_file [default: $(find grasp_planning_graspit_ros)/config/EigenGraspPlannerClient.yaml]
  • 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_eigengrasp_planner_client_example.launch
      • robot_name [default: jaco_robot]
      • object_id [default: 2]
      • output_dir [default: ]
  • 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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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