remote_manipulation_markers package from remote_manipulation_markers repo

remote_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 Build Status

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.

  1. Clone the following RAIL packages into a ROS catkin workspace :
  2. Build your ROS workspace
  3. 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.launch 1. 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_topic to 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_table to false
  4. Visualize the interface with rviz
    • Launch rviz: $ rosrun rviz rviz
    • Add the following display types to rviz
      • InteractiveMarkers, set Update Topic to /clickable_point_cloud/update. This will give you a point cloud to click as input to the Point-and-Click approach.
      • InteractiveMarkers, set Update Topic to /grasp_selector/update. This will display the grasp to execute.
      • (optional for debugging) PoseArray, set Topic to /point_and_click_demo/sampled_grasps. This will display poses for the full set of calculated grasps.
  5. 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.
  6. 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"
  7. 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.

Launch files

  • 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.launch
      • grasp_topic [default: grasp]
      • calculated_poses_topic [default: grasp_sampler/sampled_grasps]
  • 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/constrained_positioning.launch
      • grasp_topic [default: grasp]
      • run_separate_vis [default: false]

Plugins

No plugins found.

Recent questions tagged remote_manipulation_markers at answers.ros.org

remote_manipulation_markers package from remote_manipulation_markers repo

remote_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 Build Status

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.

  1. Clone the following RAIL packages into a ROS catkin workspace :
  2. Build your ROS workspace
  3. 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.launch 1. 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_topic to 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_table to false
  4. Visualize the interface with rviz
    • Launch rviz: $ rosrun rviz rviz
    • Add the following display types to rviz
      • InteractiveMarkers, set Update Topic to /clickable_point_cloud/update. This will give you a point cloud to click as input to the Point-and-Click approach.
      • InteractiveMarkers, set Update Topic to /grasp_selector/update. This will display the grasp to execute.
      • (optional for debugging) PoseArray, set Topic to /point_and_click_demo/sampled_grasps. This will display poses for the full set of calculated grasps.
  5. 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.
  6. 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"
  7. 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.

Launch files

  • 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.launch
      • grasp_topic [default: grasp]
      • calculated_poses_topic [default: grasp_sampler/sampled_grasps]
  • 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/constrained_positioning.launch
      • grasp_topic [default: grasp]
      • run_separate_vis [default: false]

Plugins

No plugins found.

Recent questions tagged remote_manipulation_markers at answers.ros.org

remote_manipulation_markers package from remote_manipulation_markers repo

remote_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

remote_manipulation_markers Build Status

A set of interactive markers for various methods of remote teleoperation manipulation of 6-DOF robot end-effectors.

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.

Launch files

  • 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.launch
      • grasp_topic [default: grasp]
      • calculated_poses_topic [default: grasp_sampler/sampled_grasps]
  • 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/constrained_positioning.launch
      • grasp_topic [default: grasp]
      • run_separate_vis [default: false]

Plugins

No plugins found.

Recent questions tagged remote_manipulation_markers at answers.ros.org