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Package Summary
| Tags | No category tags. |
| Version | 0.2.0 |
| License | MIT |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jstnhuang/rapid_pbd.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2018-04-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Package Description
Programming by demonstration for 1 or 2 arm robots
Additional Links
No additional links.
Maintainers
- Justin Huang
Authors
No additional authors.
Rapid PbD
Rapid PbD is a programming by demonstration (PbD) system for the PR2, Fetch, and Baxter robots. The goal of the system is to provide an easy way to program manipulation actions that can be used in other applications.
Getting started
- See the wiki
Program model
Users use the Rapid PbD interface to create programs.
A program is represented using the rapid_pbd_msgs/Program msg.
The system provides an actionlib interface for running programs.
A program consists of a sequence of steps, and each step consists of one or more actions. There can be different types of actions, including moving the arm, moving the head, and detecting tabletop objects. The actions of a step are run in parallel, but the steps run in sequence. For example, in one step, you can point the head down and move the robot's arms to the side, and in the next step, you can detect tabletop objects.
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
No known dependants.
Launch files
- launch/fetch.launch
-
- camera_frame [default: /head_camera_rgb_optical_frame]
- sim
- point_cloud_topic [default: /mock_point_cloud]
- depth_topic [default: /head_camera/depth_registered/image_raw]
- color_topic [default: /head_camera/rgb/image_raw]
- point_cloud_topic [default: /head_camera/depth_registered/points]
- depth_topic [default: /head_camera/depth_registered/image_raw]
- color_topic [default: /head_camera/rgb/image_raw]
- launch/baxter.launch
-
- camera_frame [default: /camera_rgb_optical_frame]
- sim
- point_cloud_topic [default: /mock_point_cloud]
- depth_topic [default: /camera/depth_registered/image_raw]
- color_topic [default: /camera/rgb/image_rect_color]
- point_cloud_topic [default: /camera/depth_registered/points]
- depth_topic [default: /camera/depth_registered/image_raw]
- color_topic [default: /camera/rgb/image_rect_color]
- launch/open_frontend.launch
- launch/pr2_sim.launch
- launch/pr2_app.launch
-
- camera_frame [default: /head_mount_kinect_rgb_optical_frame]
- sim [default: false]
- point_cloud_topic [default: /mock_point_cloud]
- depth_topic [default: /head_mount_kinect/depth/image_raw]
- color_topic [default: /head_mount_kinect/rgb/image_raw]
- point_cloud_topic [default: /head_mount_kinect/depth_registered/points]
- depth_topic [default: /head_mount_kinect/depth_registered/image]
- color_topic [default: /head_mount_kinect/rgb/image_color]
- launch/fetch_app.launch
- launch/fetch_moveit.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- allow_active_sensing [default: false]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- pipeline [default: $(optenv PLANNING_PIPELINE ompl)]
- launch/pr2_planning_context.launch
-
- load_robot_description [default: false]
- launch/pr2_moveit.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- moveit_octomap_sensor_params_file [default: $(find rapid_pbd)/config/sensors_dummy.yaml]
- launch/baxter_app.launch
- launch/web_prereqs.launch
- launch/editor.launch
-
- robot
- launch/baxter_moveit.launch
-
- load_robot_description [default: true]
- right_electric_gripper [default: true]
- left_electric_gripper [default: true]
- left_tip_name [default: left_gripper]
- right_tip_name [default: right_gripper]
- kinect [default: false]
- xtion [default: false]
- camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
- camera_link_pose [default: $(arg camera_link_pose)]
- launch/pr2.launch
-
- camera_frame [default: /head_mount_kinect_rgb_optical_frame]
- sim
- point_cloud_topic [default: /mock_point_cloud]
- depth_topic [default: /head_mount_kinect/depth/image_raw]
- color_topic [default: /head_mount_kinect/rgb/image_raw]
- point_cloud_topic [default: /head_mount_kinect/depth_registered/points]
- depth_topic [default: /head_mount_kinect/depth_registered/image]
- color_topic [default: /head_mount_kinect/rgb/image_color]
- launch/fetch_planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rapid_pbd at answers.ros.org
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