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|
remote_manipulation_markers package from remote_manipulation_markers reporemote_manipulation_markers |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/GT-RAIL/remote_manipulation_markers.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2020-05-13 |
| Dev Status | MAINTAINED |
| 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
A set of interactive markers for various methods of remote teleoperation manipulation of 6-DOF robot end-effectors
Additional Links
Maintainers
- David Kent
Authors
- David Kent
CHANGELOG
Changelog for package remote_manipulation_markers
1.0.1 (2017-01-11)
- Message generation dependencies
- Contributors: David Kent
1.0.0 (2017-01-11)
- Moved meshes into package to remove dependency on robotiq_85_description
- travis integration
- interactive marker servers for the free positioning, constrained positioning, and point-and-click approaches
- Initial commit
- Contributors: David Kent
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | actionlib | |
| 2 | actionlib_msgs | |
| 2 | geometry_msgs | |
| 1 | interactive_markers | |
| 1 | message_generation | |
| 2 | rail_manipulation_msgs | |
| 3 | pcl_conversions | |
| 1 | pcl_ros | |
| 0 | rail_grasp_calculation_msgs | |
| 2 | roscpp | |
| 2 | sensor_msgs | |
| 3 | std_srvs | |
| 1 | tf | |
| 1 | tf_conversions | |
| 3 | tf2_bullet | |
| 3 | tf2_ros | |
| 2 | visualization_msgs | |
| 1 | catkin | |
| 1 | message_runtime | |
| 2 | rail_segmentation |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/constrained_positioning.launch
-
- grasp_topic [default: grasp]
- run_separate_vis [default: false]
- launch/free_positioning.launch
-
- base_link [default: base_link]
- eef_link [default: eef_link]
- grasp_topic [default: grasp]
- run_separate_vis [default: false]
- launch/point_and_click_demo.launch
-
- cloud_topic [default: camera/depth_registered/points]
- roi_radius [default: 0.15]
- remove_table [default: true]
- neighborhood_radius [default: 0.01]
- orientation_threshold [default: 0.1]
- cluster_size [default: 5]
- local_window_size [default: 0.01]
- num_samples [default: 2000]
- finger_width [default: 0.014]
- hand_outer_diameter [default: 0.212]
- hand_depth [default: 0.04]
- init_bite [default: 0.005]
- hand_height [default: 0.037]
- grasp_topic [default: grasp]
- calculated_poses_topic [default: point_and_click_demo/sampled_grasps]
- launch/point_and_click.launch
-
- grasp_topic [default: grasp]
- calculated_poses_topic [default: grasp_sampler/sampled_grasps]
Messages
Plugins
No plugins found.
Recent questions tagged remote_manipulation_markers at answers.ros.org
No version for distro hydro. Known supported distros are highlighted in the buttons above.
|
|
remote_manipulation_markers package from remote_manipulation_markers reporemote_manipulation_markers |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/GT-RAIL/remote_manipulation_markers.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2020-05-14 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A set of interactive markers for various methods of remote teleoperation manipulation of 6-DOF robot end-effectors
Additional Links
Maintainers
- David Kent
Authors
- David Kent
remote_manipulation_markers 
A set of interactive markers for various methods of remote teleoperation manipulation of 6-DOF robot end-effectors.
Quick Start Guide
This package comes with a demo for the Point-and-Click interaction mode, using RAIL packages for grasp calculation. Follow the following steps to run the demo.
- Clone the following RAIL packages into a ROS catkin workspace :
- remote_manipulation_markers (https://github.com/GT-RAIL/remote_manipulation_markers) - backend for the point-and-click interface
- rail_agile (https://github.com/gt-rail/rail_agile) - grasp sampling
- rail_grasp_calculation (https://github.com/GT-RAIL/rail_grasp_calculation) - grasp ranking
- rail_manipulation_msgs (https://github.com/GT-RAIL/rail_manipulation_msgs) - supporting ROS message types
- Build your ROS workspace
- Launch a depth camera
- The demo assumes an asus xtion camera, but can be adjusted with launch file parameters
- Start the asus xtion with:
$ roslaunch openni_launch openni.launch1. Launch the point-and-click demo
* The complete back-end for the demo can be started with the launch file:$ roslaunch remote_manipulation_markers point_and_click_demo.launch - The following parameters may be useful to adjust for your system:
- If using a different depth camera, change
cloud_topicto your camera's point cloud ROS topic - Grasp sampling parameters are configured for the Robotiq-85 2-finger gripper. If you're using a different gripper, adjust the parameters under
<!-- gripper parameters for grasp sampling; note: defaults are measurements of the robotiq-85 gripper -->in the launch file. These parameters correspond to parameters of agile_grasp - Other grasp sampling behavior can be adjusted with the parameters under
<!-- grasp sampling and ranking parameters -->, which correspond to parameters of the rail_grasp_calculation package - By default the demo assumes you're performing tabletop manipulation. If this is not true, set
remove_tableto false
- If using a different depth camera, change
- Visualize the interface with rviz
- Launch rviz:
$ rosrun rviz rviz
- Add the following display types to rviz
-
InteractiveMarkers, setUpdate Topicto/clickable_point_cloud/update. This will give you a point cloud to click as input to the Point-and-Click approach. -
InteractiveMarkers, setUpdate Topicto/grasp_selector/update. This will display the grasp to execute. - (optional for debugging)
PoseArray, setTopicto/point_and_click_demo/sampled_grasps. This will display poses for the full set of calculated grasps.
-
- Launch rviz:
- To calculate grasps in a local area, click once on a point in the point cloud. Grasp sampling ranking may take some time depending on the grasp parameters set in the launch file, but once finished a purple gripper marker will appear at the top ranked grasp.
- To scroll through grasps, use the ROS service
/point_and_click/cycle_grasps, callable from the command line with$ rosservice call /point_and_click/cycle_grasps "forward: true" - This demo does not assume a hardware or robot control implementation for grasp execution, but it does provide an actionlib interface. To execute a grasp, use the action client
/point_and_click/execute_grasp, which assumes you have implemented the grasp execution action server for your hardware.
To create your own Point-and-Click interface, use the /clickable_point_cloud and /grasp_selector interactive marker servers, the /point_and_click/cycle_grasps service, and the /point_and_click/execute_grasp action client to your preferred visualization environment, such as rviz panels or (Robot Web Tools)[http://robotwebtools.org/] visualizers.
Documentation
Full documentation is available on the ROS wiki here.
CHANGELOG
Changelog for package remote_manipulation_markers
1.0.1 (2017-01-11)
- Message generation dependencies
- Contributors: David Kent
1.0.0 (2017-01-11)
- Moved meshes into package to remove dependency on robotiq_85_description
- travis integration
- interactive marker servers for the free positioning, constrained positioning, and point-and-click approaches
- Initial commit
- Contributors: David Kent
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | actionlib | |
| 2 | actionlib_msgs | |
| 2 | geometry_msgs | |
| 1 | interactive_markers | |
| 1 | message_generation | |
| 2 | rail_manipulation_msgs | |
| 3 | pcl_conversions | |
| 1 | pcl_ros | |
| 0 | rail_grasp_calculation_msgs | |
| 2 | roscpp | |
| 2 | sensor_msgs | |
| 3 | std_srvs | |
| 1 | tf | |
| 1 | tf_conversions | |
| 3 | tf2_bullet | |
| 3 | tf2_ros | |
| 2 | visualization_msgs | |
| 1 | catkin | |
| 1 | message_runtime | |
| 2 | rail_segmentation |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/constrained_positioning.launch
-
- grasp_topic [default: grasp]
- run_separate_vis [default: false]
- launch/free_positioning.launch
-
- base_link [default: base_link]
- eef_link [default: eef_link]
- grasp_topic [default: grasp]
- run_separate_vis [default: false]
- launch/point_and_click_demo.launch
-
- cloud_topic [default: camera/depth_registered/points]
- roi_radius [default: 0.15]
- remove_table [default: true]
- neighborhood_radius [default: 0.01]
- orientation_threshold [default: 0.1]
- cluster_size [default: 5]
- local_window_size [default: 0.015]
- num_samples [default: 2000]
- finger_width [default: 0.014]
- hand_outer_diameter [default: 0.212]
- hand_depth [default: 0.04]
- init_bite [default: 0.005]
- hand_height [default: 0.037]
- grasp_topic [default: grasp]
- calculated_poses_topic [default: point_and_click_demo/sampled_grasps]
- launch/point_and_click.launch
-
- grasp_topic [default: grasp]
- calculated_poses_topic [default: grasp_sampler/sampled_grasps]
Messages
Plugins
No plugins found.
Recent questions tagged remote_manipulation_markers at answers.ros.org
|
|
remote_manipulation_markers package from remote_manipulation_markers reporemote_manipulation_markers |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/GT-RAIL/remote_manipulation_markers.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-06-08 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A set of interactive markers for various methods of remote teleoperation manipulation of 6-DOF robot end-effectors
Additional Links
Maintainers
- David Kent
Authors
- David Kent
remote_manipulation_markers
A set of interactive markers for various methods of remote teleoperation manipulation of 6-DOF robot end-effectors.
Quick Start Guide
This package comes with a demo for the Point-and-Click interaction mode, using RAIL packages for grasp calculation. Follow the following steps to run the demo.
- Clone the following RAIL packages into a ROS catkin workspace :
- remote_manipulation_markers (https://github.com/GT-RAIL/remote_manipulation_markers) - backend for the point-and-click interface
- rail_agile (https://github.com/gt-rail/rail_agile) - grasp sampling
- rail_grasp_calculation (https://github.com/GT-RAIL/rail_grasp_calculation) - grasp ranking
- rail_manipulation_msgs (https://github.com/GT-RAIL/rail_manipulation_msgs) - supporting ROS message types
- Build your ROS workspace
- Launch a depth camera
- The demo assumes an asus xtion camera, but can be adjusted with launch file parameters
- Start the asus xtion with:
$ roslaunch openni_launch openni.launch1. Launch the point-and-click demo
* The complete back-end for the demo can be started with the launch file:$ roslaunch remote_manipulation_markers point_and_click_demo.launch - The following parameters may be useful to adjust for your system:
- If using a different depth camera, change
cloud_topicto your camera's point cloud ROS topic - Grasp sampling parameters are configured for the Robotiq-85 2-finger gripper. If you're using a different gripper, adjust the parameters under
<!-- gripper parameters for grasp sampling; note: defaults are measurements of the robotiq-85 gripper -->in the launch file. These parameters correspond to parameters of agile_grasp - Other grasp sampling behavior can be adjusted with the parameters under
<!-- grasp sampling and ranking parameters -->, which correspond to parameters of the rail_grasp_calculation package - By default the demo assumes you're performing tabletop manipulation. If this is not true, set
remove_tableto false
- If using a different depth camera, change
- Visualize the interface with rviz
- Launch rviz:
$ rosrun rviz rviz
- Add the following display types to rviz
-
InteractiveMarkers, setUpdate Topicto/clickable_point_cloud/update. This will give you a point cloud to click as input to the Point-and-Click approach. -
InteractiveMarkers, setUpdate Topicto/grasp_selector/update. This will display the grasp to execute. - (optional for debugging)
PoseArray, setTopicto/point_and_click_demo/sampled_grasps. This will display poses for the full set of calculated grasps.
-
- Launch rviz:
- To calculate grasps in a local area, click once on a point in the point cloud. Grasp sampling ranking may take some time depending on the grasp parameters set in the launch file, but once finished a purple gripper marker will appear at the top ranked grasp.
- To scroll through grasps, use the ROS service
/point_and_click/cycle_grasps, callable from the command line with$ rosservice call /point_and_click/cycle_grasps "forward: true" - This demo does not assume a hardware or robot control implementation for grasp execution, but it does provide an actionlib interface. To execute a grasp, use the action client
/point_and_click/execute_grasp, which assumes you have implemented the grasp execution action server for your hardware.
To create your own Point-and-Click interface, use the /clickable_point_cloud and /grasp_selector interactive marker servers, the /point_and_click/cycle_grasps service, and the /point_and_click/execute_grasp action client to your preferred visualization environment, such as rviz panels or Robot Web Tools visualizers.
Documentation
Full documentation is available on the ROS wiki here.
CHANGELOG
Changelog for package remote_manipulation_markers
1.0.1 (2017-01-11)
- Message generation dependencies
- Contributors: David Kent
1.0.0 (2017-01-11)
- Moved meshes into package to remove dependency on robotiq_85_description
- travis integration
- interactive marker servers for the free positioning, constrained positioning, and point-and-click approaches
- Initial commit
- Contributors: David Kent
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | actionlib | |
| 2 | actionlib_msgs | |
| 2 | geometry_msgs | |
| 1 | interactive_markers | |
| 1 | message_generation | |
| 2 | rail_manipulation_msgs | |
| 3 | pcl_conversions | |
| 1 | pcl_ros | |
| 0 | rail_grasp_calculation_msgs | |
| 2 | roscpp | |
| 2 | sensor_msgs | |
| 3 | std_srvs | |
| 1 | tf | |
| 1 | tf_conversions | |
| 3 | tf2_bullet | |
| 3 | tf2_ros | |
| 2 | visualization_msgs | |
| 1 | catkin | |
| 1 | message_runtime | |
| 2 | rail_segmentation |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/constrained_positioning.launch
-
- grasp_topic [default: grasp]
- run_separate_vis [default: false]
- launch/free_positioning.launch
-
- base_link [default: base_link]
- eef_link [default: eef_link]
- grasp_topic [default: grasp]
- run_separate_vis [default: false]
- launch/point_and_click_demo.launch
-
- cloud_topic [default: camera/depth_registered/points]
- roi_radius [default: 0.15]
- remove_table [default: true]
- neighborhood_radius [default: 0.01]
- orientation_threshold [default: 0.1]
- cluster_size [default: 5]
- local_window_size [default: 0.015]
- num_samples [default: 2000]
- finger_width [default: 0.014]
- hand_outer_diameter [default: 0.212]
- hand_depth [default: 0.04]
- init_bite [default: 0.005]
- hand_height [default: 0.037]
- grasp_topic [default: sample_grasp_executor/execute_grasp]
- calculated_poses_topic [default: point_and_click_demo/sampled_grasps]
- launch/point_and_click.launch
-
- grasp_topic [default: grasp]
- calculated_poses_topic [default: grasp_sampler/sampled_grasps]
Messages
Plugins
No plugins found.