Setup
git clone https://github.com/RobotLocomotion/pdc-ros.git
cd pdc-ros
git submodule update --init --recursive
cd docker
./docker_build.py
Run a simple node to stream descriptor images
(To configure, edit config/trained_networks.yaml
, and then NETWORK_NAME
and RGB_TOPIC
at the top of pdc_ros/src/pdc_ros/pdc_ros_simple_streaming.py
)
./docker_run.py
use_all
cd ..
cd catkin_ws
catkin_make
use_all
python src/pdc_ros/nodes/simple_descriptor_streaming.py
Run a node to respond to ROS actions to find best descriptor matches
./docker_run.py
use_all
cd ..
cd catkin_ws
catkin_make
use_all
python src/pdc_ros/nodes/find_best_match_node.py
You can edit the file pdc_ros_wrapper.py
in pdc-ros
and choose which demo to run (ear, tail, shoe).
-
Launch
spartan
and startup robot as usual. -
In pdc-ros container launch node to respond to ROS actions to find best descriptor matches.
cd ..
cd catkin_ws
catkin_make
use_all
python src/pdc_ros/nodes/find_best_match_node.py
- Launch
spartan_grasp
container frommanuelli
user. Inside the spartan_grasp container do
use_ros
use_spartan_grasp
use_spartan_grasp_ros
roslaunch spartan_grasp_wrapper spartan_grasp_wrapper.launch
- In
director
usegraspSupervisor.test_find_best_match_and_grasp_and_stow()
to execute the pick.
-
Launch
spartan
and startup robot as usual. -
In pdc-ros container launch node to respond to ROS actions to find best descriptor matches.
cd ..
cd catkin_ws
catkin_make
use_all
python src/pdc_ros/nodes/poser_server_node.py
- Launch
spartan_grasp
container frommanuelli
user. Inside the spartan_grasp container do
use_ros
use_spartan_grasp
use_spartan_grasp_ros
roslaunch spartan_grasp_wrapper spartan_grasp_wrapper.launch
-
In
director
usegraspSupervisor.test_run_poser()
. This will collect and RGBD image at the current location, then call poser. -
To visualize the results use
graspSupervisor.visualize_poser_result()
-
Re-orient the object to the desired configuration by running
grasp_supervisor.test_run_manipulate_object()
.