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detect_cans_in_fridge_201202 package from jsk_demos repo

detect_cans_in_fridge_201202 elevator_move_base_pr2 interactive_behavior_201409 jsk_2011_07_pr2_semantic jsk_2013_04_pr2_610 drc_com_common drc_task_common drc_valve_task gazebo_drive_simulator jsk_demo_common jsk_maps jsk_semantic_maps

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-14
Dev Status	DEVELOPED
Released	RELEASED

Package Description

detect_cans_in_fridge_201202

Additional Links

Website

Maintainers

Youhei Kakiuchi

Authors

Manabu Saito
Youhei Kakiuchi

detect_cans_in_fridge_201202/README.md

detect_cans_in_fridge_201202 Package

Overview

This is the package for the demo program of bring a can from fridge:

Move to the spot of the fridge front
Open fridge door
Catch can
Close fridge
Give the can to a person

Following components are used for completion of tasks:

SLAM (gmapping)
Fridge door recognition based on SIFT
Can recognition based on color histogram and euclidean clustering
Online action management using SMACH
User Interface for touch screen devices

Usage

This package can be executed both on simulation and on real robot.

On Simulation

If you want to execute on real robot, see On real robot.

Installation

NOTE hydro distribution is assumed. Please replace it if you want to use on other distribution.

NOTE Assumed that catkin workspace has been installed on your environment. If you don't yet have catkin workspace, please follow the instruction.

NOTE In simulation mode, the fridge front spot is referenced from models/room73b2-scene.l in euslisp package. So, Please make sure to build euslisp package.

source /opt/ros/hydro/setup.bash
cd /path/to/your_catkin_ws
mkdir src
wstool init src
wstool set jsk_demos -t src --git https://github.com/jsk-ros-pkg/jsk_demos
wstool update -t src
rosdep install --from-paths src --ignore-src -r -n -y
catkin build detect_cans_in_fridge_201202
source /path/to/your_catkin_ws/devel/setup.bash

Launch demo

kinematics only

open terminal, then execute following commands

# Terminal 1
roscore

# Terminal 2
roseus
(setq *logging* nil)
(load "package://detect_cans_in_fridge_201202/euslisp/main.l")
(demo)

Now you will see pr2 Kinematics Simulator window, and PR2 robot on it.

On Real Robot

This package is assumed to use PR2 robot. To connect to PR2, set some ENV in shell:

export ROS_MASTER_URI=http://<PR2 IP>:11311
export ROS_HOSTNAME=<workstation IP>
export ROS_IP=<workstation IP>

Launch Fridge Demo

Then now you can execute fridge demo.

In PR2 internal pc, you can launch fridge demo with one launch file.

# on PR2
roslaunch detect_cans_in_fridge_201202 startup.launch

Then you can start fridge demo from tablet.

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	roseus
	1	jsk_perception
	1	jsk_pcl_ros
	2	pr2_navigation_self_filter
	1	jsk_pr2_startup
	0	snap_map_icp
	1	jsk_demo_common
	1	pr2eus
	1	jsk_tools
	1	pr2_gripper_sensor_msgs
	1	pcl_msgs
	1	posedetection_msgs
	1	catkin
	1	jsk_recognition_msgs
	1	interactive_behavior_201409

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
jsk_pr2_core_apps	github-jsk-ros-pkg-jsk_smart_apps

Launch files

launch/startup.launch
- - start_rviz [default: false]
  - wait_query [default: true]
  - execute [default: false]
  - DEMOTYPE [default: map]
  - app_manager [default: false]
  - run_behavior [default: true]
  - debug_view [default: true]
  - visualize [default: false]
launch/grasp_object_extract.launch
launch/test_perception.launch
launch/detect_cans.launch
- - manager [default: plane_extraction_manager]
  - launch_manager [default: true]
  - machine [default: c2]
  - debug_view [default: true]
launch/planner.launch
- - debug [default: false]
  - gui [default: false]
launch/perception.launch
- - start_rviz [default: false]
  - wait_query [default: true]
  - execute [default: false]
  - DEMOTYPE [default: map]
  - app_manager [default: false]
  - run_behavior [default: true]
  - visualize [default: true]
  - roi [default: true]
  - debug_view [default: true]
launch/fridge_demo.launch
- - main [default: false]
  - dry [default: false]
launch/gazebo_startup.launch
- - start_rviz [default: true]
  - debug_view [default: false]
  - wait_query [default: false]
  - execute [default: true]
  - DEMOTYPE [default: map]
  - visualize [default: false]
launch/white_balance.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `detect_cans_in_fridge_201202` at answers.ros.org

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