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romeo_moveit_actions package from romeo_moveit_actions reporomeo_moveit_actions |
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Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-aldebaran/romeo_moveit_actions.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-10-23 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Interaction with objects using MoveIt! configured for Romeo, NAO, and Pepper robots
Additional Links
Maintainers
- Natalia Lyubova
Authors
No additional authors.
romeo_moveit_actions
The package allows to perform simple actions with MoveIt! configured for Romeo, NAO, and Pepper robots.
- It offers a set of functionalities, like:
-
- pick and place objects,
- reach and grasp objects,
- test a target space for reaching and grasping,
-
- manage objects
-
- virtual objects: add, move, remove,
- detect objects with the robot's sensors: call ORK Linemod object recognition.
Documentation
To compile the documentation, please run
- rosdoc_lite <path_to_package>
Installation
- apt-get install ros-indigo-romeo-moveit-actions
- or from source: git clone https://github.com/ros-aldebaran/romeo_moveit_actions
- In case of compiling from source, install the following dependencies:
-
-
- MoveIt!
-
- apt-get install ros-indigo-moveit-full
- apt-get install ros-indigo-moveit-visual-tools
-
- MoveIt! Grasp Generator
-
- from source, the recommended branch: git clone https://github.com/nlyubova/moveit_simple_grasps -b romeo-dev
-
Additionally, install a required robot description package and MoveIt! configuration, at minimum.
- Get a robot description:
-
-
- for Romeo:
-
- apt-get install ros-indigo-romeo-description
- or from source https://github.com/ros-aldebaran/romeo_robot
-
- for Nao:
-
- apt-get install ros-indigo-nao-description ros-indigo-nao-meshes
- or from source https://github.com/ros-naoqi/nao_robot, https://github.com/ros-naoqi/nao_meshes
-
- for Pepper:
-
- apt-get install ros-indigo-pepper-description ros-indigo-pepper-meshes
- or from source https://github.com/ros-naoqi/pepper_robot, https://github.com/ros-naoqi/pepper_meshes
-
- Get a robot-specific Moveit! configuration:
-
-
- for Romeo:
-
- apt-get install ros-indigo-romeo-moveit-config
- or from source https://github.com/ros-aldebaran/romeo_moveit_config
-
- for Nao:
-
- apt-get install ros-indigo-nao-moveit-config
- or from source https://github.com/ros-naoqi/nao_moveit_config
-
- for Pepper:
-
- apt-get install ros-indigo-pepper-moveit-config
- or from source https://github.com/ros-naoqi/pepper_moveit_config
-
For a real robot (not a simulator) --------------------------------If you are working with a real robot (not a simulator) then install the dcm-related package: * apt-get install ros-indigo-naoqi-dcm-driver * for Romeo: * apt-get install ros-indigo-romeo-control ros-indigo-romeo-dcm-bringup * from source https://github.com/ros-aldebaran/romeo_virtual, https://github.com/ros-aldebaran/romeo_dcm_robot * for Pepper: * apt-get install ros-indigo-pepper-control ros-indigo-pepper-dcm-bringup * from source https://github.com/ros-naoqi/pepper_virtual, https://github.com/ros-naoqi/pepper_dcm_robot * for Nao: * sudo-apt-get install ros-indigo-nao-control ros-indigo-nao-dcm-bringup * or from source https://github.com/ros-naoqi/nao_virtual, https://github.com/ros-aldebaran/nao_dcm_robot
Compile all source packages.
How it works
For a simulator (example for Romeo robot) -------------------
Launch MoveIt!:
``` {.sourceCode .bash} roslaunch romeo_moveit_config demo.launch
Wait until the robot model is loaded and launch moveit\_simple\_actions:
``` {.sourceCode .bash}
roslaunch romeo_moveit_actions actions_romeo_sim.launch
Welcome to the world of simple actions! Now, you can add virtual objects or detect real objects and reach/grasp/place them !
For a real robot (example for Romeo robot) --------------------------------
Launch the dcm_bringup (providing the robot's IP):
``` {.sourceCode .bash}
roslaunch romeo_dcm_bringup romeo_dcm_bringup_remote.launch robot_ip:=
Launch MoveIt!:
``` {.sourceCode .bash}
roslaunch romeo_moveit_config moveit_planner.launch
Wait until the robot model is loaded and launch moveit_simple_actions:
``` {.sourceCode .bash} roslaunch romeo_moveit_actions actions_romeo.launch
```
Welcome to the world of simple actions! Now, you can add virtual objects or detect real objects and reach/grasp/place them !
CHANGELOG
Changelog for package romeo_moveit_actions
0.0.8 (2016-02-12)
- fixing the doc and description
- Contributors: nlyubova
0.0.7 (2016-02-03)
- Merge pull request #1 from IanTheEngineer/remove_shape_tools Convert deprecated shape_tools dependency
- Convert deprecated shape_tools dependency shape_tools functionality was merged into geometric_shapes: https://github.com/ros-planning/geometric_shapes/pull/32 and removed from moveit_core https://github.com/ros-planning/moveit_core/pull/242 which caused this issue. This commit updates the pick and place tutorial and adds geometric_shapes to the package.xml and CMakeLists.txt to prevent the ROS buildfarm from failing to build this package.
- Contributors: Ian McMahon, Natalia Lyubova
0.0.6 (2015-12-30)
- fixing visualization of geometric shapes and cleaning
- renaming the package to romeo_moveit_actions
0.0.5 (2015-12-14)
- adding changelogs
0.0.4 (2015-12-10)
- adding changelogs
- fixing with changes in moveit visual tools
0.0.3 (2015-11-25 17:46)
- 0.0.2
- adding CHANGELOG.rst
0.0.2 (2015-11-25 17:09)
- adding CHANGELOG.rst
- adding a planning group (arm) name as an argument
- taking into account object height when grasping
- initial commit, new version of romeo_action package
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/actions_nao.launch
-
- debug [default: false]
- verbose [default: false]
- robot_name [default: nao]
- test_step [default: 0.0]
- x_min [default: 0.0]
- x_max [default: 0.0]
- y_min [default: 0.0]
- y_max [default: 0.0]
- z_min [default: 0.0]
- z_max [default: 0.0]
- left_arm_name [default: left]
- right_arm_name [default: right]
- launch/actions_pepper_sim.launch
-
- debug [default: false]
- verbose [default: true]
- robot_name [default: pepper]
- test_step [default: 0.0]
- x_min [default: 0.0]
- x_max [default: 0.0]
- y_min [default: 0.0]
- y_max [default: 0.0]
- z_min [default: 0.0]
- z_max [default: 0.0]
- left_arm_name [default: left]
- right_arm_name [default: right]
- launch/actions_pepper.launch
-
- debug [default: false]
- verbose [default: false]
- robot_name [default: pepper]
- test_step [default: 0.0]
- x_min [default: 0.0]
- x_max [default: 0.0]
- y_min [default: 0.0]
- y_max [default: 0.0]
- z_min [default: 0.0]
- z_max [default: 0.0]
- left_arm_name [default: left]
- right_arm_name [default: right]
- launch/actions_romeo.launch
-
- debug [default: false]
- verbose [default: false]
- robot_name [default: romeo]
- test_step [default: 0.0]
- x_min [default: 0.0]
- x_max [default: 0.0]
- y_min [default: 0.0]
- y_max [default: 0.0]
- z_min [default: 0.0]
- z_max [default: 0.0]
- left_arm_name [default: left]
- right_arm_name [default: right]
- launch/actions_romeo_sim.launch
-
- debug [default: false]
- verbose [default: false]
- robot_name [default: romeo]
- test_step [default: 0.0]
- x_min [default: 0.0]
- x_max [default: 0.0]
- y_min [default: 0.0]
- y_max [default: 0.0]
- z_min [default: 0.0]
- z_max [default: 0.0]
- left_arm_name [default: left]
- right_arm_name [default: right]
- tolerance_min [default: 0.1]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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