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tabletop_object_perception: active_realtime_segmentation | fast_plane_detection | object_recognition_gui | object_segmentation_gui | tabletop_collision_map_processing | tabletop_object_detector

Stack Summary

One example of sensor data processing for manipulation tasks. Containts functionality for object segmentation, object recognition and collision environment management for manipulation.

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

Overview

This stack allows complete usage of the object manipulation functionality contained in object_manipulation and pr2_object_manipulation. However, it is not a development goal in itself. Other (better) implementations of sensor processing for manipulation are under active development. This stack is meant to allow using the manipulation functionality until other alternatives mature.

Documentation

This stack contains:

• tabletop_object_detector: provides object segmentation and recognition services, for constrained scenes.

• tabletop_collision_map_processing: adds the output of the object detector to the collision environment, provides detected objects with collision names, oversees the process of taking static collision maps, etc.

Running the Manipulation Pipeline

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

Report a Bug

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