Handle Detector

Author: Andreas ten Pas (atp@ccs.neu.edu)

Version: 1.0.0

Wiki: http://wiki.ros.org/handle_detector

Author's Website: http://www.ccs.neu.edu/home/atp/

OVERVIEW

This package takes a point cloud as input and produces a list of handels / enveloping grasp affordances as output.

Input: point cloud

Output: handles / enveloping grasp affordances

REQUIREMENTS

1. ROS Kinetic (http://wiki.ros.org/kinetic)
2. Lapack (install in Ubuntu using: sudo apt-get install liblapack-dev)
3. Openni_launch (http://wiki.ros.org/openni_launch; install in Ubuntu using: sudo apt install ros-kinetic-openni-launch)

INSTRUCTIONS

1. Run handle detection on a *.pcd file: roslaunch handle_detector localization_pcd_file.launch
2. Run handle detection with a depth sensor (e.g., Kinect): roslaunch handle_detector localization_sensor.launch
3. Run handle detection with importance sampling on a *.pcd file: roslaunch handle_detector importance_sampling_pcd_file.launch

For detailed instructions, have a look at: http://wiki.ros.org/handle_detector.