rapid_pbd package from rapid_pbd repo

rapid_pbd

Package Summary

Tags No category tags.
Version 0.2.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jstnhuang/rapid_pbd.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-04-19
Dev Status DEVELOPED
Released RELEASED

Package Description

Programming by demonstration for 1 or 2 arm robots

Additional Links

No additional links.

Maintainers

  • Justin Huang

Authors

No additional authors.

Rapid PbD

Build Status

Rapid PbD is a programming by demonstration (PbD) system for the PR2, Fetch, and Baxter robots. The goal of the system is to provide an easy way to program manipulation actions that can be used in other applications.

Getting started

Program model

Users use the Rapid PbD interface to create programs. A program is represented using the rapid_pbd_msgs/Program msg. The system provides an actionlib interface for running programs.

A program consists of a sequence of steps, and each step consists of one or more actions. There can be different types of actions, including moving the arm, moving the head, and detecting tabletop objects. The actions of a step are run in parallel, but the steps run in sequence. For example, in one step, you can point the head down and move the robot's arms to the side, and in the next step, you can detect tabletop objects.

CHANGELOG

Changelog for package rapid_pbd

0.2.0 (2017-11-15)

  • Adds support for the Baxter robot (#18)
  • Added additional runtime deps.
  • Contributors: Justin Huang, ysl208

0.1.6 (2017-11-03)

  • Add detected surfaces as collision objects (#25)
  • Small refactoring of runtime code.
  • Changed editor web page title.
  • Contributors: Justin Huang, pengy25

0.1.5 (2017-10-31)

  • Added a service to create a new program (#22)
  • Upgraded to ros-rviz v3.
  • Added rosbridge_server as a runtime dependency.
  • Fixed headAction type in frontend.
  • Contributors: Justin Huang, Sheryl Liang, Yu-Tang Peng

0.1.4 (2017-09-15)

  • Changed str to toString, which compiles on ROS buildfarm.
  • Contributors: Justin Huang

0.1.3 (2017-09-11)

  • Added missing build dependencies.
  • Contributors: Justin Huang

0.1.2 (2017-09-11)

  • Added install targets.
  • Contributors: Justin Huang

0.1.1 (2017-09-11)

  • Initial release.
  • Contributors: Justin Huang

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/pr2_moveit.launch
      • debug [default: false]
      • info [default: $(arg debug)]
      • allow_trajectory_execution [default: true]
      • fake_execution [default: false]
      • max_safe_path_cost [default: 1]
      • jiggle_fraction [default: 0.05]
      • publish_monitored_planning_scene [default: true]
      • moveit_octomap_sensor_params_file [default: $(find rapid_pbd)/config/sensors_dummy.yaml]
  • launch/fetch_planning_context.launch
      • load_robot_description [default: false]
      • robot_description [default: robot_description]
  • launch/pr2.launch
      • camera_frame [default: /head_mount_kinect_rgb_optical_frame]
      • sim
      • point_cloud_topic [default: /mock_point_cloud]
      • depth_topic [default: /head_mount_kinect/depth/image_raw]
      • color_topic [default: /head_mount_kinect/rgb/image_raw]
      • point_cloud_topic [default: /head_mount_kinect/depth_registered/points]
      • depth_topic [default: /head_mount_kinect/depth_registered/image]
      • color_topic [default: /head_mount_kinect/rgb/image_color]
  • launch/pr2_planning_context.launch
      • load_robot_description [default: false]
  • launch/baxter_app.launch
  • launch/fetch.launch
      • camera_frame [default: /head_camera_rgb_optical_frame]
      • sim
      • point_cloud_topic [default: /mock_point_cloud]
      • depth_topic [default: /head_camera/depth_registered/image_raw]
      • color_topic [default: /head_camera/rgb/image_raw]
      • point_cloud_topic [default: /head_camera/depth_registered/points]
      • depth_topic [default: /head_camera/depth_registered/image_raw]
      • color_topic [default: /head_camera/rgb/image_raw]
  • launch/editor.launch
      • robot
  • launch/fetch_app.launch
  • launch/pr2_sim.launch
  • launch/open_frontend.launch
  • launch/baxter.launch
      • camera_frame [default: /camera_rgb_optical_frame]
      • sim
      • point_cloud_topic [default: /mock_point_cloud]
      • depth_topic [default: /camera/depth_registered/image_raw]
      • color_topic [default: /camera/rgb/image_rect_color]
      • point_cloud_topic [default: /camera/depth_registered/points]
      • depth_topic [default: /camera/depth_registered/image_raw]
      • color_topic [default: /camera/rgb/image_rect_color]
  • launch/fetch_moveit.launch
      • debug [default: false]
      • info [default: $(arg debug)]
      • allow_trajectory_execution [default: true]
      • allow_active_sensing [default: false]
      • fake_execution [default: false]
      • max_safe_path_cost [default: 1]
      • jiggle_fraction [default: 0.05]
      • publish_monitored_planning_scene [default: true]
      • pipeline [default: $(optenv PLANNING_PIPELINE ompl)]
  • launch/baxter_moveit.launch
      • load_robot_description [default: true]
      • right_electric_gripper [default: true]
      • left_electric_gripper [default: true]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • camera_link_pose [default: $(arg camera_link_pose)]
  • launch/pr2_app.launch
      • camera_frame [default: /head_mount_kinect_rgb_optical_frame]
      • sim [default: false]
      • point_cloud_topic [default: /mock_point_cloud]
      • depth_topic [default: /head_mount_kinect/depth/image_raw]
      • color_topic [default: /head_mount_kinect/rgb/image_raw]
      • point_cloud_topic [default: /head_mount_kinect/depth_registered/points]
      • depth_topic [default: /head_mount_kinect/depth_registered/image]
      • color_topic [default: /head_mount_kinect/rgb/image_color]
  • launch/web_prereqs.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rapid_pbd at answers.ros.org