moveit_grasping_testing

Package with stuff for testing grasping with REEM.

Installation instructions for using this package:

• 1. Installed (in a workspace called reem-sim_ws for example) REEM simulation:
     Instructions: http://wiki.ros.org/Robots/REEM/Tutorials/Launching%20a%20REEM%20Gazebo%20simulation
     They use the following rosinstall:
     https://raw.githubusercontent.com/pal-robotics/pal-ros-pkg/master/reem-sim-hydro.rosinstall
• 2. Installed (in a workspace called ork_ws for example) Object Recognition Kitchen:
     Instructions: http://wg-perception.github.io/object_recognition_core/install.html#rosinstall-file
     Using this rosinstall file:
     http://wg-perception.github.io/object_recognition_core/_downloads/ork.rosinstall

Before doing catkin_make of ORK do:

source ~/reem-sim_ws/devel/setup.bash

So you correctly overlay workspaces (info: http://wiki.ros.org/catkin/Tutorials/workspace_overlaying)

Then I would recommend you to do another workspace (just to keep things separated and skipping compiling everything all the time):

• 3. Install this package rosinstall in a new workspace (reem_manipulation_ws for example):

cd ~
mkdir -p ~/reem_manipulation_ws/src && cd ~/reem_manipulation_ws/src
catkin_init_workspace

wstool init .
wstool merge https://raw.githubusercontent.com/awesomebytes/moveit_grasping_testing/master/.rosinstall

wstool update -j8

cd ..
rosdep install --from-paths src --ignore-src --rosdistro hydro -y

source ~/ork_ws/devel/setup.bash
catkin_make

=== Launch stuff ===

• Launch simulation of REEM in a world with a table and some objects over it (world:=objects_in_table), also, launch it with the Xtion over REEM head (robot:=rgbd)

roslaunch reem_gazebo reem_gazebo.launch world:=objects_on_table robot:=rgbd

• You probably want to reduce the rate of publishing of the rgbd data once the simulation is running:

roslaunch reem_rgbd_launch simulation_reduce_rate.launch

• Launch block grasp generator server and grasp object server:

roslaunch reem_tabletop_grasping tabletop_grasping.launch

• Run MoveIt! Rviz GUI for REEM (with last version of REEM public simulation MoveIt! is started by default):

roslaunch reem_moveit_config moveit_rviz.launch config:=true

• Move REEM's head to look down:

rosrun reem_snippets move_reem_head.py

• You can test a dummy pick and place of a virtual object executing:

rosrun moveit_grasping_testing pick_and_place.py

You will be able to see REEM in Rviz planning the motions pretty fast, we have an overlay of manipulation from moveit_ros because of https://github.com/ros-planning/moveit_ros/pull/391 moveit_ros waits by default 7s.

Also, for something a bit more dynamic: Work has been done in this area, so maybe something acts funny, you are warned!

• Run tabletop table detection:

rosrun object_recognition_ros server -c `rospack find reem_object_recognition`/config/tabletop/detection.clusters.ros.ork.reem

rosrun object_recognition_core detection -c `rospack find reem_object_recognition`/config/tabletop/detection.clusters.ros.ork.reem.throtled

• Grasp closest cluster (to a hardcoded sweet spot):

rosrun moveit_grasping_testing pick_a_cluster.py