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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/open_frontend.launch
  • launch/pr2_sim.launch
  • 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/fetch_app.launch
  • 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/pr2_planning_context.launch
      • load_robot_description [default: false]
  • 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/baxter_app.launch
  • launch/web_prereqs.launch
  • launch/editor.launch
      • robot
  • 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.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/fetch_planning_context.launch
      • load_robot_description [default: false]
      • robot_description [default: robot_description]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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