romeo_moveit_actions package from romeo_moveit_actions repo

romeo_moveit_actions

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 kinetic-dev
Last Updated 2017-10-23
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package 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

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!:

roslaunch romeo_moveit_config demo.launch

Wait until the robot model is loaded and launch moveit_simple_actions:

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):

roslaunch romeo_dcm_bringup romeo_dcm_bringup_remote.launch robot_ip:=<ROBOT_IP>

Launch MoveIt!:

roslaunch romeo_moveit_config moveit_planner.launch

Wait until the robot model is loaded and launch moveit_simple_actions:

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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_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]
  • 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_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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged romeo_moveit_actions at answers.ros.org

romeo_moveit_actions package from romeo_moveit_actions repo

romeo_moveit_actions

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 No Continuous Integration
Released RELEASED
Package 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

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!:

roslaunch romeo_moveit_config demo.launch

Wait until the robot model is loaded and launch moveit_simple_actions:

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):

roslaunch romeo_dcm_bringup romeo_dcm_bringup_remote.launch robot_ip:=<ROBOT_IP>

Launch MoveIt!:

roslaunch romeo_moveit_config moveit_planner.launch

Wait until the robot model is loaded and launch moveit_simple_actions:

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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_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]
  • 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_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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged romeo_moveit_actions at answers.ros.org