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This package can also be used as an (advanced) example for using the C++ sql database interface. A simpler example is provided in the database interface tutorials.

This database is mainly used by our manipulation pipeline, which is described in detail on the object_manipulator package page.


The household_objects_database is a thin C++ and ROS wrapper for an SQL database used for recognition and manipulation. Its main role is to

The Database

For a detailed description of the database itself as a SQL entity, its schema, the data that is contains and the design decisions behind it, see the household objects page.

ROS Node Wrapper and ROS API

The ROS node wrapper provides some of the most common database queries as ROS services. It requires the following node parameters on startup to establish a connection with the database server:

Once started, the wrapper node provides the following ROS services:

In general, information about database objects recognized in the robot's environment are passed around the system in the form of DatabaseModelPose messages.

Using the Database

Install the database on your local machine

You can download a database backup file and install it on a local database server. Has the advantage that the database is local and can be modified. Here is how you can do it:

Remote ROS access to database hosted at Willow Garage

Note that remote read-only access to a server hosted at Willow Garage is no longer officially supported. The infrastructure is still available, but the overhead of keeping the ROS wrapper always up at Willow ended up being too high.

If you'd like to set up that service for yourself, the documentation for the client side is still at tutorial for remote use of the database.

2024-07-13 13:16