New in C Turtle

pr2_tabletop_manipulation_apps: pr2_create_object_model | pr2_interactive_manipulation | pr2_interactive_object_detection | pr2_pick_and_place_demos | pr2_skill_crane | pr2_tabletop_manipulation_launch

Stack Summary

Brings together manipulation and perception for complete task execution using the PR2 robot.

• Author: Maintained by Matei Ciocarlie and Kaijen Hsiao
• License: BSD
• Repository: wg-ros-pkg
• Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_tabletop_manipulation_apps/branches/0.4-branch

Overview

Combines manipulation functionality from object_manipulation and pr2_object_manipulation with sensor processing from tabletop_object_perception and the database interface from household_objects_database. Contains launch files for starting the manipulation pipeline, complete with sensor processing, on the PR2 robot. Also contains example applications that call the services provided by the manipulation pipeline.

Running the Manipulation Pipeline

Please see the tutorials:

After going through the tutorials above, you can find additional examples, as well as details on how to run them, in the pr2_pick_and_place_demos package.

Documentation

This stack contains:

• pr2_tabletop_manipulation_launch: launch files that start the manipulation pipeline on the PR2 robot, complete with object detection and sensor processing functionality. Once the pipeline is started, it is ready to serve the Pickup and Place requests described in the object_manipulator.

• pr2_pick_and_place_demos: applications and examples for the PR2 robot that use the manipulation pipeline (in both C++ and Python)

Installation

Standard installation

A normal ROS installation of either the diamondback or electric distros will get you the respective stable versions of the manipulation pipeline. We strongly encourage using these versions. To apt-get install the current debians of our stacks, use sudo apt-get install ros-diamondback-pr2-desktop or sudo apt-get install ros-electric-pr2-desktop.

Source code checkout, unstable (electric) version

If you are doing active development on one of the stacks in the pipeline, or need an experimental feature that has not yet been released, you can use the following overlay file to get the trunk version of the stacks.

https://code.ros.org/svn/wg-ros-pkg/branches/trunk_electric/rosinstall_files/pr2_manipulation-electric-devel.rosinstall

WARNING: this code is what we use for trunk development! It is not guaranteed to be stable or fully functional!

Report a Bug

Use trac to report bugs or request features. [View active tickets]