Temporary repo for migrating robot code to ros kinetic.
This repo contains simplified version of fetch_grasp_suggestion
, which only supports
~/suggest_grasps
(rail_manipulation_msgs/SuggestGrasps) Given an object point cloud, sample grasps and get an initial ranking for them by calculating grasp heuristics.
The rail_semantic_grasping
and rail_affordance_detection
repos remain the same. Check the readme inside for more detail.
Install this pacakage along with the following packages:
The melodic versions of these packages should be used!
- If
isnan
error is encountered when compilingrail_agile
, add#include <cmath>
to header and replaceisnan
withstd::isnan
in code. - A lot of the packages were originally developed with ROS melodic. However, it can be compiled and used in ROS kinetic by adding the line add_compile_options(-std=c++11) to the top-level CMakeLists.txt of the workspace.
- To deal with denser object point cloud, change line 99 of
rail_grasp_calculation/rail_grasp_calculation_nodes/src/GraspSampler.cpp
toclusterer.setMaxClusterSize(100000);
See readme inside rail_semantic_grasping