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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
The jsk_2013_04_pr2_610 package
Additional Links
Maintainers
- Kei Okada
- Yuki Furuta
Authors
- Kei Okada
- Youhei Kakiuchi
- Yusuke Furuta
- Hiroyuki Mikita
- Chan Wesley
- Yuto Inagaki
- Eisoku Kuroiwa
- Yuki Furuta
jsk_2013_04_pr2_610
Citation
Yuki FURUTA, Yuto INAGAKI, Youhei KAKIUCHI, Kei OKADA, Masayuki INABA:
IRTホームアシスタントロボット による掃除片付け作業シーケンスのPR2による実現,
in The 31th Annual Conference on Robotics Society of Japan, 1I2-02, 2013.
Overview
This is the package of the demo programs including various home-assistant tasks:
- Picking/Placing tray with dual arm
- Picking soft clothes with arm
- Manipulating laundry machine
- Picking a broom and cleaning room
- Moving a chair
a.k.a PR2/ROS re-written version of 2009 irt demo
Following components are used for completion of tasks:
- SLAM (gmapping)
- SIFT based image recognition
- Furniture leg detection using base laser data
- automatic task planning with PDDL(Problem Domain Description Language)
- Online action management using SMACH
- User Interface for touch screen devices
More detailed information is provided in the citation
Usage
This package can be executed both on simulation and on real robot.
On Simulation
If you want to execute on real robot, see below
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.
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 set jsk_planning -t src --git https://github.com/jsk-ros-pkg/jsk_planning
wstool set xdot -t src --git https://github.com/k-okada/xdot # https://github.com/jbohren/xdot/pull/12
wstool update -t src
rosdep install --from-paths src --ignore-src -r -n -y
catkin build jsk_2013_04_pr2_610
source /path/to/your_catkin_ws/devel/setup.bash
Launch demo
- kinematics only
- open terminal, then execute following commands
# Terminal 1
roscore
# Terminal 2
rosrun jsk_2013_04_pr2_610 demo.l "(demo)" # please ignore all error message
- Now you will see
pr2 Kinematics Simulatorwindow, and PR2 robot on it.
- use planning
- you can launch
demo_<type>.launchwith optionuse_sim:=true
# Terminal 1
roslaunch jsk_2013_04_pr2_610 demo_tray.launch use_sim:=true
# replace `tray` with `wash` or `all` if you'd like to see other demos.
- planning visualization
- execute command below
# Terminal 1
roslaunch jsk_2013_04_pr2_610 planner.launch
In this demo, you can see more described information about planning.
-
state transition graph
-
generated plan (
PDDL Planner Viewer)
-
action state transition graph (
SMACH Viewer)
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 All Demo Tasks
Then now you can execute all demo plans.
In PR2 internal pc, you can launch all demos with one launch file.
# on PR2
roslaunch jsk_2013_04_pr2_610 demo_all.launch
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
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| local_app_manager | github-jsk-ros-pkg-jsk_smart_apps |
Launch files
- launch/demo_tray.launch
-
- plan [default: true]
- launch/detect_all.launch
- launch/planner.launch
-
- debug [default: false]
- use_ffha [default: false]
- launch/shadow_filter_example.launch
- launch/demo_all.launch
-
- plan [default: true]
- launch/detect_with_image.launch
-
- launch_sift [default: true]
- camera [default: /openni/rgb]
- object
- window_name
- template_filename
- object_width
- object_height
- relative_pose
- reprojection_threshold [default: 3.0]
- error_threshold [default: 80.0]
- distanceratio_threshold [default: 0.49]
- viewer_window [default: false]
- launch/demo_common.launch
-
- task
- plan [default: true]
- use_downward [default: true]
- use_ffha [default: false]
- launch/detect_footobject.launch
- launch/demo_wash.launch
-
- plan [default: true]
Services
No service files found
Plugins
No plugins found.
Recent questions tagged jsk_2013_04_pr2_610 at answers.ros.org
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