Grasp Demo

Initial Setup

$ mkdir -p ~/YOUR_WORKSPACE/src
$ cd ~/YOUR_WORKSPACE
$ catkin init
$ pip install scikit-robot[all] #https://github.com/iory/scikit-robot
$ sudo apt install ros-kinetic-pr2* #Install PR2 packages.
$ sudo apt install ros-kinetic-jsk-pr2*
$ cd ~/YOUR_WORKWPACE/src
$ git clone https://github.com/jsk-ros-pkg/jsk_recognition.git
$ cd ~/YOUR_WORKSPACE
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y -r #Install depedencies
$ catkin build jsk_pcl_ros

Maybe more library should be installed...

smach example (grasp a can)

Based on https://github.com/jsk-ros-pkg/jsk_roseus/tree/master/roseus_smach

$ roslaunch grasp_demo common.launch
$ rosrun grasp_demo state-machine-ros.l #After that command `(exec-smach)`
$ rosrun smach_viewer smach_viewer.py 

behavior tree example (grasp a can)

Based on https://github.com/miccol/ROS-Behavior-Tree First, you should build behavior_tree_core package. On each terminal and after source ~/YOUR_WORKSPACE/devel/setup.bash,

$ roslaunch grasp_demo common.launch
$ rosrun grasp_demo reactive_server.l
$ rosrun behavior_tree_core reactive_grasp 

Then behavior Tree show up, and the robot automatically grasps can.

contact

For more infomation, please contact me. [email protected]

If you want to try python robot instead of euslisp, try scikit robot!