Package Summary

Tags No category tags.
Version 0.0.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2022-09-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Fetch gazebo demo for roseus implementation

Additional Links

No additional links.

Maintainers

  • Naoya Yamaguchi

Authors

No additional authors.

jsk_fetch_gazebo_demo

  • This demo is roseus version of fetch_gazebo_demo.
  • You can learn how to use roseus and how ROS components are executed. (e.g. pointcloud, navigation, motion planning, ... etc)

Usage

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/jsk-ros-pkg/jsk_robot.git
rosdep install --from-paths . --ignore-src -y -r
cd ..
catkin config
catkin build jsk_fetch_gazebo_demo
source devel/setup.bash

  • Launch demo
source devel/setup.bash
roslaunch jsk_fetch_gazebo_demo demo.launch

NOTE - fetch_gazebo is compatible with ROS indigo and melodic, so this repo is compatible with ROS indigo and melodic, too. - Fetch in Gazebo9 (melodic) is somehow dark, but it seems no problem.

Demo

Start of demo

Fetch generates the costmap (blue and purple thick lines) based on the known room map. AMCL particle (red arrows) is scattered at the beginning.

Gazebo Rviz

Move to table using navigation stacks

While fetch is moving, AMCL particle (red arrows) come together by comparing laser data (red dotted line) and room map. Navigation path (green line) is calculated based on the costmap.

Gazebo Rviz

Recognize obstacles by pointcloud

Fetch generates collision obstacles (green blocks) based on the table and cube pointcloud.

Gazebo Rviz

Grasp cube

Fetch solves IK, moves the arm while avoiding obstacles and grasps the blue cube.

Gazebo Rviz
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/demo.launch
      • run_demo_script [default: true] — run euslisp demo script
      • rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_fetch_gazebo_demo at answers.ros.org

Package Summary

Tags No category tags.
Version 0.0.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2022-09-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Fetch gazebo demo for roseus implementation

Additional Links

No additional links.

Maintainers

  • Naoya Yamaguchi

Authors

No additional authors.

jsk_fetch_gazebo_demo

  • This demo is roseus version of fetch_gazebo_demo.
  • You can learn how to use roseus and how ROS components are executed. (e.g. pointcloud, navigation, motion planning, ... etc)

Usage

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/jsk-ros-pkg/jsk_robot.git
rosdep install --from-paths . --ignore-src -y -r
cd ..
catkin config
catkin build jsk_fetch_gazebo_demo
source devel/setup.bash

  • Launch demo
source devel/setup.bash
roslaunch jsk_fetch_gazebo_demo demo.launch

NOTE - fetch_gazebo is compatible with ROS indigo and melodic, so this repo is compatible with ROS indigo and melodic, too. - Fetch in Gazebo9 (melodic) is somehow dark, but it seems no problem.

Demo

Start of demo

Fetch generates the costmap (blue and purple thick lines) based on the known room map. AMCL particle (red arrows) is scattered at the beginning.

Gazebo Rviz

Move to table using navigation stacks

While fetch is moving, AMCL particle (red arrows) come together by comparing laser data (red dotted line) and room map. Navigation path (green line) is calculated based on the costmap.

Gazebo Rviz

Recognize obstacles by pointcloud

Fetch generates collision obstacles (green blocks) based on the table and cube pointcloud.

Gazebo Rviz

Grasp cube

Fetch solves IK, moves the arm while avoiding obstacles and grasps the blue cube.

Gazebo Rviz
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/demo.launch
      • run_demo_script [default: true] — run euslisp demo script
      • rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_fetch_gazebo_demo at answers.ros.org