Only released in EOL distros:
Package Summary
Contains PR2-specific implementations of some of the generic functionality needed for pickup and place tasks.
- Author: Maintained by Kaijen Hsiao and Matei Ciocarlie
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.5-branch
Package Summary
Contains PR2-specific implementations of some of the generic functionality needed for pickup and place tasks.
- Author: Maintained by Kaijen Hsiao and Matei Ciocarlie
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.6-branch
Package Summary
Contains PR2-specific implementations of some of the generic functionality needed for pickup and place tasks.
- Author: Maintained by Kaijen Hsiao and Matei Ciocarlie
- License: BSD
- Source: git https://github.com/ros-interactive-manipulation/pr2_object_manipulation.git (branch: groovy-devel)
In general, PR2 specific implementations contained here will implement general interfaces defined in the object_manipulation stack. Contains PR2 specific launch files for using the manipulation functionality.
Also contains complete sensor processing framework for executing end-to-end manipulation tasks.
Documentation
This stack contains:
PR2 gripper-specific implementations for some of the services and actions needed by the object_manipulator. These include:
pr2_gripper_grasp_planner_cluster: grasp planning for unknown objects
pr2_gripper_grasp_controller: shaping the gripper in a (pre-) grasp posture, and applying the joint torques specified for a grasp
pr2_gripper_reactive_approach: reactive grasp execution using tactile sensors to correct for errors
pr2_gripper_sensor_controller: an alternate gripper controller that use tactile information from the PR2 accelerometer and fingertip sensors to carefully manipulate objects and sense their interaction with the gripper
pr2_gripper_sensor_action: the action interface used to communicate with pr2_gripper_sensor_controller
pr2_gripper_sensor_msgs: the collection of actions used to communicate with pr2_gripper_sensor_action, as well as the messages used to pass data between pr2_gripper_sensor_controller and pr2_gripper_sensor_action
Complete sensor processing framework for all the sensing needed for manipulation. The use of this functionality is described on the tabletop_object_perception page.
Launch files and examples for running the manipulation pipeline, including sensor data processing. Tutorials can be found on the pr2_tabletop_manipulation_apps page.
pr2_interactive_manipulation: rviz-based teleop for controlling the PR2 robot to do manipulation tasks/driving around
Running the Manipulation Pipeline
To launch the manipulation pipeline complete with sensor input and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in pr2_tabletop_manipulation_apps.
Report a Bug
<<TracLink(wg-ros-pkg object_manipulation)>>