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Package Summary

Tags No category tags.
Version 0.3.14
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 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

pr2eus_tutorials

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

  1. Follow the instruction of ROS installation
  2. Install the package
    sudo apt install ros-kinetic-pr2eus-tutorials

  1. Load ROS Environment
    source /opt/ros/kinetic/setup.bash`

Using source package

  1. Follow the instruction of ROS installation
  2. 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 pr2eus_tutorials

  1. Load ROS Environment
   source ~/ros/kinetic/devel/setup.bash`

Demos

PR2 Tabletop Object Detection

  1. Startup nodes

    First we need to start nodes used for this demo.

- Using a real robot
    # on PR2 real robot
    roslaunch pr2eus_tutorials pr2_tabletop.launch

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
    roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
    # It may take time to download materials for the first time

You can see the robot is spawned in a scene with a desk and some objects.
  1. Run demo

    Then we can now start the demo program for picking objects.

    rosrun pr2eus_tutorials pr2-tabletop-object-grasp.l

After running the demo program above, you can see object bounding boxes in the `RViZ` window.
It means the robot now recognizes each objects as individual objects from camera sensor inputs.

You can click any object that you want the robot to pick up.


![pr2_tabletop_sim](https://gist.githubusercontent.com/furushchev/b3f3bb08953407966f80f4b0ac70c7dd/raw/pr2_tabletop_screen.png)
  1. Step-by-step description of the demo program

    In the bottom of the demo program pr2-tabletop-object-grasp.l, you can see a main function demo.

    (defun demo ()
      (setq *grasping-object-p* nil)
      (setq *arm* :rarm)
      (setq *tfl* (instance ros::transform-listener :init))
      (setq *tfb* (instance ros::transform-broadcaster :init))
      (pr2-init)
      (pr2-pregrasp-pose)
      (wait-for-grasp-target))

The `(pr2-init)` method is just a initialization function for pr2 robot that instantiate two objects required for robot manipulation from euslisp:

- `*pr2*`: This object is a kinematic model for a PR2 robot. This object includes any fundamental functions for robot modeling such as inverse kinematics, dynamics, geometric constraints and so on. You can visualize this model by evaluating `(objects (list *pr2*))`.
- `*ri*`: This is an object that send a control signal to the actual robot from euslisp kinematics model and receive the result or actual states of the robot. `ri` is an abbreviation of `robot interface`.

Please note that `(pr2-init)` function is defined in `pr2-interface.l` in the `pr2eus` package.
In this demo program, the function is loaded in the top of the script:
    (require :pr2-interface "package://pr2eus/pr2-interface.l")

After `(pr2-init)` is executed, the kinematic model looks like below:

![pr2-reset-pose](https://user-images.githubusercontent.com/1901008/39504750-d44efa06-4e08-11e8-8aef-7c0f3ce0802b.png)


After initialized the robot in euslisp, `(pr2-pregrasp-pose)` method is executed.
    (defun pr2-pregrasp-pose ()
      (send *pr2* :reset-manip-pose)
      (send *ri* :angle-vector (send *pr2* :angle-vector) 5000)
      (send *ri* :wait-interpolation))

The first line `(send *pr2* :reset-manip-pose)` changes the pose of euslisp kinematic model to the predefined pose called `reset-manip-pose`.
With calling this method, the actual robot does **NOT** move because this method only changes the states of the kinematic model. Instead you can see the current states of the kinematic model by `(objects (list *pr2*))`.
The kinematic model now looks like below:

![pr2-reset-manip-pose](https://user-images.githubusercontent.com/1901008/39504749-d42a4ff8-4e08-11e8-8597-6ca54b5a97e7.png)

The second line then send the current state of kinematic model to the actual robot.
The second argument `5000` allows the robot to take 5000 milliseconds to move to the pose. If the second argument is omitted, the default argument `3000` will be used.

After the second line, it will take 5 seconds until the robot ends to move, but the method call itself returns immediately.
The last method called in the last line is just for waiting for the robot until he ends to move to the specified pose.

Reach Object Demo

Reach Object Demo with PR2

# launch gazebo
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch pr2eus_tutorials spawn_objects.launch

# launch recognition
roslaunch jsk_pcl_ros hsi_color_filter.launch INPUT:=/wide_stereo/points2 h_min:=75 s_min:=50

# visualization
rviz -d `rospack find pr2eus_tutorials`/config/pr2_reach_object.rviz

# eus
roscd pr2eus_tutorials/euslisp
roseus reach-object.l
(pr2-setup)
(reach-object-demo)

Reach Object Demo with HRP2JSK

hrpsys_gazebo_tutorials is required. (Currently, HRP2 model is not provided for open source projects.)

# launch gazebo
roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsk_no_controllers.launch
roslaunch pr2eus_tutorials spawn_objects.launch

# lanch hrpsys
rtmlaunch hrpsys_gazebo_tutorials hrp2jsk_hrpsys_bringup.launch KINEMATICS_MODE:=true

# launch recognition
roslaunch jsk_pcl_ros hsi_color_filter.launch INPUT:=/xtion/depth/points h_min:=75 s_min:=50

# visualization
rviz -d `rospack find pr2eus_tutorials`/config/hrp2jsk_reach_object.rviz

# eus
roscd pr2eus_tutorials/euslisp
roseus reach-object.l
(hrp2jsk-setup)
(reach-object-demo)

CHANGELOG

Changelog for package pr2eus_tutorials

0.3.14 (2019-02-11)

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 directory
    • move rviz config file to config 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

0.1.6 (2014-05-11)

0.1.5 (2014-05-03)

0.1.4 (2014-05-02 22:28)

0.1.3 (2014-05-02 18:04)

0.1.2 (2014-05-01 22:43)

0.1.1 (2014-05-01 02:14)

  • fix tabletop launcher
  • update some template_grasp files
  • fixed launch file path by addint _frontend.
  • update parameter at base_trajectory
  • update pr2_gazebo_empty.launch on pr2eus_tutorials
  • fix typo null -> nil
  • comment out dependancy unreleased package
  • update tabletop-sample.l
  • add comment to tabletop-sample.l
  • update files for template grasp
  • fix using arm navigation overridingopenrave
  • temporary backup for migration
  • Added some general comments. Also removed some old commented code that is not used.
  • add one shot subscriber for point cloud
  • fix bug
  • update proc-detection
  • add subscribe-detection-result.l
  • add launch_objectdetection arguments for publish /ObjectDetection
  • remove magic number. Using approach distance
  • fixed the bug of unnecessary translation of graps-cds
  • fix: arm-navigation sample
  • fix: remove magic number
  • add parameter: convert_to_base_link
  • added hand-coords visualizer for image_view2
  • added place function, check colliderreset
  • launch realtime_tabletop on default template_grasp launch
  • added y-or-n-from-tablet function
  • bugfix coodinate transform of grasp pose
  • add pr2_template_grasp_sim.launch
  • update and add launch_object_manipulation
  • merged comments and update from obsolates
  • add comments
  • added template_grasp samples, pick from android
  • add comment
  • fix: topic name for real robot
  • add pr2_tabletop.launch
  • add argument nav:=true to interactive_manipulation
  • fix: launch_rviz -> run_rviz
  • add goto-init-pose
  • add pr2_tabletop_sim.launch
  • fix: typo
  • add pr2_interactive_manipulation_sim.launch
  • add objects to pr2_gazebo_objects.launch
  • add pr2eus_tutorials for using pr2eus software on simulation environment
  • Contributors: YoheiKakiuchi, chen, kazuto, tatu, y-tnaka, youhei

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pr2eus_tutorials at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.14
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 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

pr2eus_tutorials

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

  1. Follow the instruction of ROS installation
  2. Install the package
    sudo apt install ros-kinetic-pr2eus-tutorials

  1. Load ROS Environment
    source /opt/ros/kinetic/setup.bash`

Using source package

  1. Follow the instruction of ROS installation
  2. 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 pr2eus_tutorials

  1. Load ROS Environment
   source ~/ros/kinetic/devel/setup.bash`

Demos

PR2 Tabletop Object Detection

  1. Startup nodes

    First we need to start nodes used for this demo.

- Using a real robot
    # on PR2 real robot
    roslaunch pr2eus_tutorials pr2_tabletop.launch

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
    roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
    # It may take time to download materials for the first time

You can see the robot is spawned in a scene with a desk and some objects.
  1. Run demo

    Then we can now start the demo program for picking objects.

    rosrun pr2eus_tutorials pr2-tabletop-object-grasp.l

After running the demo program above, you can see object bounding boxes in the `RViZ` window.
It means the robot now recognizes each objects as individual objects from camera sensor inputs.

You can click any object that you want the robot to pick up.


![pr2_tabletop_sim](https://gist.githubusercontent.com/furushchev/b3f3bb08953407966f80f4b0ac70c7dd/raw/pr2_tabletop_screen.png)
  1. Step-by-step description of the demo program

    In the bottom of the demo program pr2-tabletop-object-grasp.l, you can see a main function demo.

    (defun demo ()
      (setq *grasping-object-p* nil)
      (setq *arm* :rarm)
      (setq *tfl* (instance ros::transform-listener :init))
      (setq *tfb* (instance ros::transform-broadcaster :init))
      (pr2-init)
      (pr2-pregrasp-pose)
      (wait-for-grasp-target))

The `(pr2-init)` method is just a initialization function for pr2 robot that instantiate two objects required for robot manipulation from euslisp:

- `*pr2*`: This object is a kinematic model for a PR2 robot. This object includes any fundamental functions for robot modeling such as inverse kinematics, dynamics, geometric constraints and so on. You can visualize this model by evaluating `(objects (list *pr2*))`.
- `*ri*`: This is an object that send a control signal to the actual robot from euslisp kinematics model and receive the result or actual states of the robot. `ri` is an abbreviation of `robot interface`.

Please note that `(pr2-init)` function is defined in `pr2-interface.l` in the `pr2eus` package.
In this demo program, the function is loaded in the top of the script:
    (require :pr2-interface "package://pr2eus/pr2-interface.l")

After `(pr2-init)` is executed, the kinematic model looks like below:

![pr2-reset-pose](https://user-images.githubusercontent.com/1901008/39504750-d44efa06-4e08-11e8-8aef-7c0f3ce0802b.png)


After initialized the robot in euslisp, `(pr2-pregrasp-pose)` method is executed.
    (defun pr2-pregrasp-pose ()
      (send *pr2* :reset-manip-pose)
      (send *ri* :angle-vector (send *pr2* :angle-vector) 5000)
      (send *ri* :wait-interpolation))

The first line `(send *pr2* :reset-manip-pose)` changes the pose of euslisp kinematic model to the predefined pose called `reset-manip-pose`.
With calling this method, the actual robot does **NOT** move because this method only changes the states of the kinematic model. Instead you can see the current states of the kinematic model by `(objects (list *pr2*))`.
The kinematic model now looks like below:

![pr2-reset-manip-pose](https://user-images.githubusercontent.com/1901008/39504749-d42a4ff8-4e08-11e8-8597-6ca54b5a97e7.png)

The second line then send the current state of kinematic model to the actual robot.
The second argument `5000` allows the robot to take 5000 milliseconds to move to the pose. If the second argument is omitted, the default argument `3000` will be used.

After the second line, it will take 5 seconds until the robot ends to move, but the method call itself returns immediately.
The last method called in the last line is just for waiting for the robot until he ends to move to the specified pose.

Reach Object Demo

Reach Object Demo with PR2

# launch gazebo
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch pr2eus_tutorials spawn_objects.launch

# launch recognition
roslaunch jsk_pcl_ros hsi_color_filter.launch INPUT:=/wide_stereo/points2 h_min:=75 s_min:=50

# visualization
rviz -d `rospack find pr2eus_tutorials`/config/pr2_reach_object.rviz

# eus
roscd pr2eus_tutorials/euslisp
roseus reach-object.l
(pr2-setup)
(reach-object-demo)

Reach Object Demo with HRP2JSK

hrpsys_gazebo_tutorials is required. (Currently, HRP2 model is not provided for open source projects.)

# launch gazebo
roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsk_no_controllers.launch
roslaunch pr2eus_tutorials spawn_objects.launch

# lanch hrpsys
rtmlaunch hrpsys_gazebo_tutorials hrp2jsk_hrpsys_bringup.launch KINEMATICS_MODE:=true

# launch recognition
roslaunch jsk_pcl_ros hsi_color_filter.launch INPUT:=/xtion/depth/points h_min:=75 s_min:=50

# visualization
rviz -d `rospack find pr2eus_tutorials`/config/hrp2jsk_reach_object.rviz

# eus
roscd pr2eus_tutorials/euslisp
roseus reach-object.l
(hrp2jsk-setup)
(reach-object-demo)

CHANGELOG

Changelog for package pr2eus_tutorials

0.3.14 (2019-02-11)

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 directory
    • move rviz config file to config 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

0.1.6 (2014-05-11)

0.1.5 (2014-05-03)

0.1.4 (2014-05-02 22:28)

0.1.3 (2014-05-02 18:04)

0.1.2 (2014-05-01 22:43)

0.1.1 (2014-05-01 02:14)

  • fix tabletop launcher
  • update some template_grasp files
  • fixed launch file path by addint _frontend.
  • update parameter at base_trajectory
  • update pr2_gazebo_empty.launch on pr2eus_tutorials
  • fix typo null -> nil
  • comment out dependancy unreleased package
  • update tabletop-sample.l
  • add comment to tabletop-sample.l
  • update files for template grasp
  • fix using arm navigation overridingopenrave
  • temporary backup for migration
  • Added some general comments. Also removed some old commented code that is not used.
  • add one shot subscriber for point cloud
  • fix bug
  • update proc-detection
  • add subscribe-detection-result.l
  • add launch_objectdetection arguments for publish /ObjectDetection
  • remove magic number. Using approach distance
  • fixed the bug of unnecessary translation of graps-cds
  • fix: arm-navigation sample
  • fix: remove magic number
  • add parameter: convert_to_base_link
  • added hand-coords visualizer for image_view2
  • added place function, check colliderreset
  • launch realtime_tabletop on default template_grasp launch
  • added y-or-n-from-tablet function
  • bugfix coodinate transform of grasp pose
  • add pr2_template_grasp_sim.launch
  • update and add launch_object_manipulation
  • merged comments and update from obsolates
  • add comments
  • added template_grasp samples, pick from android
  • add comment
  • fix: topic name for real robot
  • add pr2_tabletop.launch
  • add argument nav:=true to interactive_manipulation
  • fix: launch_rviz -> run_rviz
  • add goto-init-pose
  • add pr2_tabletop_sim.launch
  • fix: typo
  • add pr2_interactive_manipulation_sim.launch
  • add objects to pr2_gazebo_objects.launch
  • add pr2eus_tutorials for using pr2eus software on simulation environment
  • Contributors: YoheiKakiuchi, chen, kazuto, tatu, y-tnaka, youhei

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pr2eus_tutorials at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.3.14
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 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

pr2eus_tutorials

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

  1. Follow the instruction of ROS installation
  2. Install the package
    sudo apt install ros-kinetic-pr2eus-tutorials

  1. Load ROS Environment
    source /opt/ros/kinetic/setup.bash`

Using source package

  1. Follow the instruction of ROS installation
  2. 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 pr2eus_tutorials

  1. Load ROS Environment
   source ~/ros/kinetic/devel/setup.bash`

Demos

PR2 Tabletop Object Detection

  1. Startup nodes

    First we need to start nodes used for this demo.

- Using a real robot
    # on PR2 real robot
    roslaunch pr2eus_tutorials pr2_tabletop.launch

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
    roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
    # It may take time to download materials for the first time

You can see the robot is spawned in a scene with a desk and some objects.
  1. Run demo

    Then we can now start the demo program for picking objects.

    rosrun pr2eus_tutorials pr2-tabletop-object-grasp.l

After running the demo program above, you can see object bounding boxes in the `RViZ` window.
It means the robot now recognizes each objects as individual objects from camera sensor inputs.

You can click any object that you want the robot to pick up.


![pr2_tabletop_sim](https://gist.githubusercontent.com/furushchev/b3f3bb08953407966f80f4b0ac70c7dd/raw/pr2_tabletop_screen.png)
  1. Step-by-step description of the demo program

    In the bottom of the demo program pr2-tabletop-object-grasp.l, you can see a main function demo.

    (defun demo ()
      (setq *grasping-object-p* nil)
      (setq *arm* :rarm)
      (setq *tfl* (instance ros::transform-listener :init))
      (setq *tfb* (instance ros::transform-broadcaster :init))
      (pr2-init)
      (pr2-pregrasp-pose)
      (wait-for-grasp-target))

The `(pr2-init)` method is just a initialization function for pr2 robot that instantiate two objects required for robot manipulation from euslisp:

- `*pr2*`: This object is a kinematic model for a PR2 robot. This object includes any fundamental functions for robot modeling such as inverse kinematics, dynamics, geometric constraints and so on. You can visualize this model by evaluating `(objects (list *pr2*))`.
- `*ri*`: This is an object that send a control signal to the actual robot from euslisp kinematics model and receive the result or actual states of the robot. `ri` is an abbreviation of `robot interface`.

Please note that `(pr2-init)` function is defined in `pr2-interface.l` in the `pr2eus` package.
In this demo program, the function is loaded in the top of the script:
    (require :pr2-interface "package://pr2eus/pr2-interface.l")

After `(pr2-init)` is executed, the kinematic model looks like below:

![pr2-reset-pose](https://user-images.githubusercontent.com/1901008/39504750-d44efa06-4e08-11e8-8aef-7c0f3ce0802b.png)


After initialized the robot in euslisp, `(pr2-pregrasp-pose)` method is executed.
    (defun pr2-pregrasp-pose ()
      (send *pr2* :reset-manip-pose)
      (send *ri* :angle-vector (send *pr2* :angle-vector) 5000)
      (send *ri* :wait-interpolation))

The first line `(send *pr2* :reset-manip-pose)` changes the pose of euslisp kinematic model to the predefined pose called `reset-manip-pose`.
With calling this method, the actual robot does **NOT** move because this method only changes the states of the kinematic model. Instead you can see the current states of the kinematic model by `(objects (list *pr2*))`.
The kinematic model now looks like below:

![pr2-reset-manip-pose](https://user-images.githubusercontent.com/1901008/39504749-d42a4ff8-4e08-11e8-8597-6ca54b5a97e7.png)

The second line then send the current state of kinematic model to the actual robot.
The second argument `5000` allows the robot to take 5000 milliseconds to move to the pose. If the second argument is omitted, the default argument `3000` will be used.

After the second line, it will take 5 seconds until the robot ends to move, but the method call itself returns immediately.
The last method called in the last line is just for waiting for the robot until he ends to move to the specified pose.

Reach Object Demo

Reach Object Demo with PR2

# launch gazebo
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch pr2eus_tutorials spawn_objects.launch

# launch recognition
roslaunch jsk_pcl_ros hsi_color_filter.launch INPUT:=/wide_stereo/points2 h_min:=75 s_min:=50

# visualization
rviz -d `rospack find pr2eus_tutorials`/config/pr2_reach_object.rviz

# eus
roscd pr2eus_tutorials/euslisp
roseus reach-object.l
(pr2-setup)
(reach-object-demo)

Reach Object Demo with HRP2JSK

hrpsys_gazebo_tutorials is required. (Currently, HRP2 model is not provided for open source projects.)

# launch gazebo
roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsk_no_controllers.launch
roslaunch pr2eus_tutorials spawn_objects.launch

# lanch hrpsys
rtmlaunch hrpsys_gazebo_tutorials hrp2jsk_hrpsys_bringup.launch KINEMATICS_MODE:=true

# launch recognition
roslaunch jsk_pcl_ros hsi_color_filter.launch INPUT:=/xtion/depth/points h_min:=75 s_min:=50

# visualization
rviz -d `rospack find pr2eus_tutorials`/config/hrp2jsk_reach_object.rviz

# eus
roscd pr2eus_tutorials/euslisp
roseus reach-object.l
(hrp2jsk-setup)
(reach-object-demo)

CHANGELOG

Changelog for package pr2eus_tutorials

0.3.14 (2019-02-11)

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 directory
    • move rviz config file to config 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

0.1.6 (2014-05-11)

0.1.5 (2014-05-03)

0.1.4 (2014-05-02 22:28)

0.1.3 (2014-05-02 18:04)

0.1.2 (2014-05-01 22:43)

0.1.1 (2014-05-01 02:14)

  • fix tabletop launcher
  • update some template_grasp files
  • fixed launch file path by addint _frontend.
  • update parameter at base_trajectory
  • update pr2_gazebo_empty.launch on pr2eus_tutorials
  • fix typo null -> nil
  • comment out dependancy unreleased package
  • update tabletop-sample.l
  • add comment to tabletop-sample.l
  • update files for template grasp
  • fix using arm navigation overridingopenrave
  • temporary backup for migration
  • Added some general comments. Also removed some old commented code that is not used.
  • add one shot subscriber for point cloud
  • fix bug
  • update proc-detection
  • add subscribe-detection-result.l
  • add launch_objectdetection arguments for publish /ObjectDetection
  • remove magic number. Using approach distance
  • fixed the bug of unnecessary translation of graps-cds
  • fix: arm-navigation sample
  • fix: remove magic number
  • add parameter: convert_to_base_link
  • added hand-coords visualizer for image_view2
  • added place function, check colliderreset
  • launch realtime_tabletop on default template_grasp launch
  • added y-or-n-from-tablet function
  • bugfix coodinate transform of grasp pose
  • add pr2_template_grasp_sim.launch
  • update and add launch_object_manipulation
  • merged comments and update from obsolates
  • add comments
  • added template_grasp samples, pick from android
  • add comment
  • fix: topic name for real robot
  • add pr2_tabletop.launch
  • add argument nav:=true to interactive_manipulation
  • fix: launch_rviz -> run_rviz
  • add goto-init-pose
  • add pr2_tabletop_sim.launch
  • fix: typo
  • add pr2_interactive_manipulation_sim.launch
  • add objects to pr2_gazebo_objects.launch
  • add pr2eus_tutorials for using pr2eus software on simulation environment
  • Contributors: YoheiKakiuchi, chen, kazuto, tatu, y-tnaka, youhei

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pr2eus_tutorials at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.14
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 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

pr2eus_tutorials

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

  1. Follow the instruction of ROS installation
  2. Install the package
    sudo apt install ros-kinetic-pr2eus-tutorials

  1. Load ROS Environment
    source /opt/ros/kinetic/setup.bash`

Using source package

  1. Follow the instruction of ROS installation
  2. 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 pr2eus_tutorials

  1. Load ROS Environment
   source ~/ros/kinetic/devel/setup.bash`

Demos

PR2 Tabletop Object Detection

  1. Startup nodes

    First we need to start nodes used for this demo.

- Using a real robot
    # on PR2 real robot
    roslaunch pr2eus_tutorials pr2_tabletop.launch

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
    roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart
    # It may take time to download materials for the first time

You can see the robot is spawned in a scene with a desk and some objects.
  1. Run demo

    Then we can now start the demo program for picking objects.

    rosrun pr2eus_tutorials pr2-tabletop-object-grasp.l

After running the demo program above, you can see object bounding boxes in the `RViZ` window.
It means the robot now recognizes each objects as individual objects from camera sensor inputs.

You can click any object that you want the robot to pick up.


![pr2_tabletop_sim](https://gist.githubusercontent.com/furushchev/b3f3bb08953407966f80f4b0ac70c7dd/raw/pr2_tabletop_screen.png)
  1. Step-by-step description of the demo program

    In the bottom of the demo program pr2-tabletop-object-grasp.l, you can see a main function demo.

    (defun demo ()
      (setq *grasping-object-p* nil)
      (setq *arm* :rarm)
      (setq *tfl* (instance ros::transform-listener :init))
      (setq *tfb* (instance ros::transform-broadcaster :init))
      (pr2-init)
      (pr2-pregrasp-pose)
      (wait-for-grasp-target))

The `(pr2-init)` method is just a initialization function for pr2 robot that instantiate two objects required for robot manipulation from euslisp:

- `*pr2*`: This object is a kinematic model for a PR2 robot. This object includes any fundamental functions for robot modeling such as inverse kinematics, dynamics, geometric constraints and so on. You can visualize this model by evaluating `(objects (list *pr2*))`.
- `*ri*`: This is an object that send a control signal to the actual robot from euslisp kinematics model and receive the result or actual states of the robot. `ri` is an abbreviation of `robot interface`.

Please note that `(pr2-init)` function is defined in `pr2-interface.l` in the `pr2eus` package.
In this demo program, the function is loaded in the top of the script:
    (require :pr2-interface "package://pr2eus/pr2-interface.l")

After `(pr2-init)` is executed, the kinematic model looks like below:

![pr2-reset-pose](https://user-images.githubusercontent.com/1901008/39504750-d44efa06-4e08-11e8-8aef-7c0f3ce0802b.png)


After initialized the robot in euslisp, `(pr2-pregrasp-pose)` method is executed.
    (defun pr2-pregrasp-pose ()
      (send *pr2* :reset-manip-pose)
      (send *ri* :angle-vector (send *pr2* :angle-vector) 5000)
      (send *ri* :wait-interpolation))

The first line `(send *pr2* :reset-manip-pose)` changes the pose of euslisp kinematic model to the predefined pose called `reset-manip-pose`.
With calling this method, the actual robot does **NOT** move because this method only changes the states of the kinematic model. Instead you can see the current states of the kinematic model by `(objects (list *pr2*))`.
The kinematic model now looks like below:

![pr2-reset-manip-pose](https://user-images.githubusercontent.com/1901008/39504749-d42a4ff8-4e08-11e8-8597-6ca54b5a97e7.png)

The second line then send the current state of kinematic model to the actual robot.
The second argument `5000` allows the robot to take 5000 milliseconds to move to the pose. If the second argument is omitted, the default argument `3000` will be used.

After the second line, it will take 5 seconds until the robot ends to move, but the method call itself returns immediately.
The last method called in the last line is just for waiting for the robot until he ends to move to the specified pose.

Reach Object Demo

Reach Object Demo with PR2

# launch gazebo
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch pr2eus_tutorials spawn_objects.launch

# launch recognition
roslaunch jsk_pcl_ros hsi_color_filter.launch INPUT:=/wide_stereo/points2 h_min:=75 s_min:=50

# visualization
rviz -d `rospack find pr2eus_tutorials`/config/pr2_reach_object.rviz

# eus
roscd pr2eus_tutorials/euslisp
roseus reach-object.l
(pr2-setup)
(reach-object-demo)

Reach Object Demo with HRP2JSK

hrpsys_gazebo_tutorials is required. (Currently, HRP2 model is not provided for open source projects.)

# launch gazebo
roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsk_no_controllers.launch
roslaunch pr2eus_tutorials spawn_objects.launch

# lanch hrpsys
rtmlaunch hrpsys_gazebo_tutorials hrp2jsk_hrpsys_bringup.launch KINEMATICS_MODE:=true

# launch recognition
roslaunch jsk_pcl_ros hsi_color_filter.launch INPUT:=/xtion/depth/points h_min:=75 s_min:=50

# visualization
rviz -d `rospack find pr2eus_tutorials`/config/hrp2jsk_reach_object.rviz

# eus
roscd pr2eus_tutorials/euslisp
roseus reach-object.l
(hrp2jsk-setup)
(reach-object-demo)

CHANGELOG

Changelog for package pr2eus_tutorials

0.3.14 (2019-02-11)

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 directory
    • move rviz config file to config 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

0.1.6 (2014-05-11)

0.1.5 (2014-05-03)

0.1.4 (2014-05-02 22:28)

0.1.3 (2014-05-02 18:04)

0.1.2 (2014-05-01 22:43)

0.1.1 (2014-05-01 02:14)

  • fix tabletop launcher
  • update some template_grasp files
  • fixed launch file path by addint _frontend.
  • update parameter at base_trajectory
  • update pr2_gazebo_empty.launch on pr2eus_tutorials
  • fix typo null -> nil
  • comment out dependancy unreleased package
  • update tabletop-sample.l
  • add comment to tabletop-sample.l
  • update files for template grasp
  • fix using arm navigation overridingopenrave
  • temporary backup for migration
  • Added some general comments. Also removed some old commented code that is not used.
  • add one shot subscriber for point cloud
  • fix bug
  • update proc-detection
  • add subscribe-detection-result.l
  • add launch_objectdetection arguments for publish /ObjectDetection
  • remove magic number. Using approach distance
  • fixed the bug of unnecessary translation of graps-cds
  • fix: arm-navigation sample
  • fix: remove magic number
  • add parameter: convert_to_base_link
  • added hand-coords visualizer for image_view2
  • added place function, check colliderreset
  • launch realtime_tabletop on default template_grasp launch
  • added y-or-n-from-tablet function
  • bugfix coodinate transform of grasp pose
  • add pr2_template_grasp_sim.launch
  • update and add launch_object_manipulation
  • merged comments and update from obsolates
  • add comments
  • added template_grasp samples, pick from android
  • add comment
  • fix: topic name for real robot
  • add pr2_tabletop.launch
  • add argument nav:=true to interactive_manipulation
  • fix: launch_rviz -> run_rviz
  • add goto-init-pose
  • add pr2_tabletop_sim.launch
  • fix: typo
  • add pr2_interactive_manipulation_sim.launch
  • add objects to pr2_gazebo_objects.launch
  • add pr2eus_tutorials for using pr2eus software on simulation environment
  • Contributors: YoheiKakiuchi, chen, kazuto, tatu, y-tnaka, youhei

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pr2eus_tutorials at answers.ros.org