![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml
Messages
Services
Plugins
Recent questions tagged pr2eus_tutorials at Robotics Stack Exchange
![]() |
pr2eus_tutorials package from jsk_pr2eus repojsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.3.15 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/jsk-ros-pkg/jsk_pr2eus.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-05-10 |
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
Additional Links
Maintainers
- Kei Okada
- Masaki Murooka
Authors
- Kei Okada
pr2eus_tutorials
This is a repository for tutorials of pr2eus
Installation
To play with this package, you can choose from two installation methods.
We assume the ROS environment is kinetic
.
If you use ROS indigo
distribution, please replace the word kinetic
with indigo
(or appropriate distributions).
Using pre-built package
Install ROS
Follow the instruction of ROS installation
Install the package
sudo apt install ros-kinetic-pr2eus-tutorials
Load ROS Environment
source /opt/ros/kinetic/setup.bash
Using source package
Install ROS
Follow the instruction of ROS installation
Setup catkin workspace
source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build
Load ROS Environment
source ~/ros/kinetic/devel/setup.bash
Tabletop Object Grasping Demo
Tabletop Object Grasping Demo with PR2
Startup nodes
First we need to start nodes used for this demo.
Using a real robot
# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch
If you try using compressed topic from the real PR2,
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
You can locate a desk in front of the robot and put any objects on it.
Using a simulator
You can set physics engine with roslaunch argument.
# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
You can see the robot is spawned in a scene with a desk and some objects.
Run demo
Then we can now start the demo program for picking objects.
File truncated at 100 lines see the full file
Changelog for package pr2eus_tutorials
0.3.15 (2023-04-17)
- integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
- [pr2eus_tutorials] fix look-at-hand (#472)
- [pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
- [pr2eus_tutorials] Fix publish status (#464)
- [pr2eus_tutorials] Select grasp position via 2D image (#437)
- Update pr2eus_tutorials README (#389)
- [pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
- Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta
0.3.14 (2019-02-11)
- add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
- Contributors: Kei Okada
0.3.13 (2017-07-14)
0.3.12 (2017-07-11)
0.3.11 (2017-06-25)
- add test code for pr2 dual arm IK (#272 )
- Contributors: Chi Wun Au
0.3.10 (2017-03-02)
0.3.9 (2017-02-22)
0.3.8 (2017-02-07)
0.3.7 (2016-11-08)
0.3.6 (2016-11-02)
0.3.5 (2016-09-16)
0.3.4 (2016-06-22)
0.3.3 (2016-05-28)
0.3.2 (2016-05-26)
0.3.1 (2016-05-22)
- [pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
- [pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
- [pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
- Contributors: Yuki Furuta
0.3.0 (2016-03-20)
- add files for reach object demo.
- [pr2eus_tutorials] remove dependency to pr2_gazebo.
- catkinize pr2eus_tutorials
- Contributors: Kei Okada, Masaki Murooka
0.2.1 (2016-03-04)
0.2.0 (2015-11-03)
0.1.11 (2015-06-11)
0.1.10 (2015-04-03 18:49)
0.1.9 (2015-04-03 16:52)
0.1.8 (2015-02-25)
0.1.7 (2015-02-10)
- add empty map in pr2 gazebo startup
- add startup launch file for gazebo pr2
- rename parameter and delete unused arg
- changed pos_z
- changed codes to be used in hydro
- add rot_{rpy} arguments to spawn_cylinder.launch
- add object spawner for gazebo
- remove absolute path
- Contributors: YoheiKakiuchi, ohara, tarukosu
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
pr2eus | |
catkin | |
app_manager | |
eusurdf | |
pr2_gazebo | |
roseus_tutorials | |
image_view2 | |
jsk_pcl_ros | |
jsk_interactive_marker | |
jsk_recognition_msgs | |
jsk_rviz_plugins | |
jsk_pr2_startup | |
jsk_maps | |
rostest |
System Dependencies
Dependant Packages
Launch files
- launch/gazebo/gazebo_image_relay.launch
- launch/gazebo/pr2_gazebo_empty.launch
-
- RUN_RVIZ [default: true]
- LAUNCH_NAVI [default: true]
- LAUNCH_BASE_CONTROLLER [default: true]
- launch/gazebo/pr2_gazebo_objects.launch
-
- run_rviz [default: true]
- table_x_pos [default: 0.0]
- launch/gazebo/pr2_gazebo_startup.launch
-
- launch_empty_map [default: true]
- launch_move_base [default: true]
- launch_move_tilt_scan [default: true]
- launch_moveit [default: false]
- launch_moveit_gui [default: false]
- launch_openni [default: true]
- launch/gazebo/pr2_interactive_manipulation_sim.launch
- launch/gazebo/pr2_tabletop_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/pr2_tabletop_scene.launch
-
- gui [default: true]
- physics [default: ode]
- launch/gazebo/pr2_tabletop_sim.launch
-
- gui [default: true]
- run_rviz [default: true]
- publish_objects_tf [default: true]
- physics [default: ode]
- launch/gazebo/pr2_template_grasp_sim.launch
-
- run_rviz [default: true]
- launch/gazebo/spawn_box.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: box]
- color [default: Green]
- size_x [default: 0.5]
- size_y [default: 0.5]
- size_z [default: 0.5]
- launch/gazebo/spawn_cylinder.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: cylinder]
- color [default: Green]
- length [default: 0.2]
- radius [default: 0.05]
- launch/gazebo/spawn_model_in_database.launch
-
- pos_x [default: 0.0]
- pos_y [default: 0.0]
- pos_z [default: 0.0]
- rot_r [default: 0.0]
- rot_p [default: 0.0]
- rot_y [default: 0.0]
- model_name [default: table_model]
- type_name [default: table]
- launch/gazebo/spawn_objects.launch
- launch/pr2_tabletop.launch
-
- run_rviz [default: false]
- publish_objects_tf [default: true]
- launch_tracking [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- sim [default: false]
- remote [default: false]
- launch/pr2_tabletop_grasp.launch
-
- run_rviz [default: false]
- manager [default: pr2_tabletop_object_detector_nodelet_manager]
- machine [default: c2]
- launch/tabletop_complete.launch
-
- flatten_table [default: false]
- model_set [default: REDUCED_MODEL_SET]
- tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
- launch/template_grasp.launch
-
- kinect_camera_name [default: openni]
- launch_object_manipulation [default: false]
- launch_realtime_tabletop [default: true]
- launch_objectdetection [default: false]
- apps/tabletop_grasp/tabletop_grasp.xml