Only released in EOL distros:   electric fuerte groovy

ROS API

This API is for grasp tasks with the SDH (Schunk Dextrous Hand). It provides tools to generate/simulate different grasping solutions.

Resources

To obtain the grasping solutions there are 2 services. The get_pregrasps service is exclusive for the srs_ui_but.

Services

get_db_grasps ( srs_grasping/GetDBGrasps)

• Reads the grasping configurations from the database. If the info is not stored, it tries to generate it.

get_feasible_grasps ( srs_grasping/GetFeasibleGrasps)

• Returns the feasible grasping configurations (in /base_link coordinates system) for a given object ID and object pose.

get_pregrasps ( srs_grasping/GetPreGrasp)

• Return pregrasp configurations for a given position.

Files

Simulate the generated grasp configurations in the OpenRAVE simulator.

scripts/test_simulation.py

A grasp task example.

scripts/test_simplegrasp.py

Obtains grasp configurations for a given object.

script/test_generator.py

This files contains all the methods used in the grasping tools.

src/databaseutils.py
src/operaveutils.py
src/graspingutils.py

This one contains an instance of each one:

src/grasping_functions.py

The services.

src/get_db_grasps.py
src/get_feasible_grasps.py
src/get_pregrasps.py

This file launch all the services.

launch/grasping_services.py

This file contains the mesh of the hand. It's needed to calculate grasps and other tasks.

robos/care-o-bot3.zae

Installation

This ppackage depends on OpenRAVE. The faster option is to install OpenRAVE from its repository:

sudo add-apt-repository ppa:openrave/release
sudo apt-get update
sudo apt-get install openrave

Another option is to install the openrave_planning package.

We recommend the first option to avoid configuration problems with environment variables.

Usage/Examples

The grasping tools calls the generator when the goal has not a grasping info in the database. Internally, these tools needs to call some srs_object_database services. For that reason, before use these tools you must launch the srs_db.launch file. More details about the configuration and content of this file can be found in the srs_object_database wiki.

roslaunch srs_object_database srs_db.launch

After launch this file, you must launch:

roslaunch srs_grasping grasping_services.launch

At this point, you can use different grasp tools like the generator, the simulator or the grasp_machine:

rosrun srs_grasping test_generator.py
rosrun srs_grasping test_simulation.py