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
Released UNRELEASED

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_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_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_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]

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
Released RELEASED

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_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_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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged romeo_moveit_actions at answers.ros.org