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pr2_object_manipulation: pr2_grasp_adjust | pr2_gripper_click | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_handy_tools | pr2_object_manipulation_launch | rgbd_assembler | simple_Jtranspose_controller

Stack Summary

Contains PR2-specific implementations of some of the generic functionality needed for pickup and place tasks.

• Author: Maintained by Kaijen Hsiao and Matei Ciocarlie
• License: BSD
• Repository: wg-ros-pkg
• Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.4-branch

In general, PR2 specific implementations contained here will implement general interfaces defined in the object_manipulation stack. Also contains PR2 specific launch files for using the manipulation functionality.

Documentation

This stack contains:

• PR2 gripper-specific implementations for some of the services and actions needed by the object_manipulator. These include:

  • pr2_gripper_grasp_planner_cluster: grasp planning for unknown objects

  • pr2_gripper_grasp_controller: shaping the gripper in a (pre-) grasp posture, and applying the joint torques specified for a grasp

  • pr2_gripper_reactive_approach: reactive grasp execution using tactile sensors to correct for errors

  • pr2_gripper_sensor_controller: an alternate gripper controller that use tactile information from the PR2 accelerometer and fingertip sensors to carefully manipulate objects and sense their interaction with the gripper

  • pr2_gripper_sensor_action: the action interface used to communicate with pr2_gripper_sensor_controller

  • pr2_gripper_sensor_msgs: the collection of actions used to communicate with pr2_gripper_sensor_action, as well as the messages used to pass data between pr2_gripper_sensor_controller and pr2_gripper_sensor_action

• pr2_object_manipulation_launch: launch files for starting the manipulation pipeline on the PR2 robot.

  • these launch files will start everything that the manipulation pipeline uses internally, including kinematics, arm navigation, grasp planning, etc

  • the manipulation pipeline also needs external sensor input, which is not provided here. For an implementation of all the sensor input needed, see the tabletop_object_perception stack.

• pr2_interactive_manipulation: rviz-based teleop for controlling the PR2 robot to do manipulation tasks/driving around

Running the Manipulation Pipeline

To launch the manipulation pipeline complete with sensor input and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in pr2_tabletop_manipulation_apps.

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