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how can I run pick_an_place on non-pr2 robot?

asked 2013-03-16 03:23:14 -0500

jontromanab gravatar image

I have created a robot which has two dynamixel based arm. I am using a kinect in the head for sensor perception. I can manipulate my arms by /follow_joint_trajectory and also from arm_navigation.launch file which has been created by planning_description_configuration wizard. I can also manipulate the arm using warehouse_viewer. I have checked the pick_and_place_demos by PR2 in gazebo. But I find this really complex. Can anybody guide me step-by-step that how can I do same type of work on my non-PR2 robot???

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answered 2013-03-22 07:44:43 -0500

GuiHome gravatar image

updated 2013-03-22 07:46:45 -0500

Hi, Indeed pick & place (object_manipulation stack) is complex. You already managed to get your arm working in the warehouse_viewer which means you have kinematics and robot_description running.

What is complex is the whole setup (everything must be connected together). You may want to have a look at a diagram we created to understand the different parts of object_manipulation_stack Page 6 of this tutorial :

We also went for a rewrite of the wrapper (the thing commanding sub-functions to do pick and place) in our project. You can find an early version of our wrapper in the shadow sr-manipulation stack here as well as launch files that startup a lot of things. It is not in a release state but you may find some ideas on how to proceed. Hope this helped.

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Asked: 2013-03-16 03:23:14 -0500

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Last updated: Mar 22 '13