wliu88/rail_semantic_grasping_pkgs

Temporary repo for migrating robot code to ros kinetic

rail_semantic_grasping_pkgs

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.

Installation

Install this pacakage along with the following packages:

• rail_agile
• rail_grasp_calculation
• rail_manipulation_msgs
• rail_segmentation

The melodic versions of these packages should be used!

Note:

• If isnan error is encountered when compiling rail_agile, add #include <cmath> to header and replace isnan with std::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.

Running with Sawyer

• To deal with denser object point cloud, change line 99 of rail_grasp_calculation/rail_grasp_calculation_nodes/src/GraspSampler.cpp to clusterer.setMaxClusterSize(100000);

Run

See readme inside rail_semantic_grasping