What happened to the Pick And Place Manager in groovy?

asked 2013-06-13 06:18:34 -0600

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In my application, I've been using the PickAndPlaceManager from the pr2_pick_and_place_demos package. At the moment, I'm trying to convert our software to Groovy, but the PickAndPlaceManager is gone. Some questions:

What are the reasons for removing it? Will it come back?
How hard would it be to upgrade it to Groovy? What would have to be done?
Is there an alternative? I.e., what's the preferred way to pick up and place objects using the PR2 on Groovy?

Thanks! Martin

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answered 2013-08-15 17:39:16 -0600

hsiao
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Pick and place manager has been updated and added back to branch groovy-devel in https://github.com/ros-interactive-manipulation/pr2_object_manipulation . Sorry it took so long! Hopefully you had good luck with MoveIt! in the meantime. :)

The pick and place manager will definitely not be in Hydro, in any event--arm navigation and all of that has been deprecated. Switch now if you can!

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Well, I don't think I can switch to MoveIt yet; it doesn't yet seem to provide all the features that arm_navigation, object_manipulation etc. did. Thanks anyway (also to Dan Lazewasky), I'll give arm_navigation on groovy another try.

Martin Günther ( 2013-08-18 02:51:07 -0600 )edit

BTW, make sure you do sudo apt-get remove ros-groovy-geometric-shapes before trying to install. There's a geometric_shapes dry package in arm_navigation that conflicts with the wet version used by MoveIt! so if you've installed MoveIt! on your computer, you'll have to uninstall it before arm_navigation will compile.

hsiao ( 2013-08-18 20:24:23 -0600 )edit

Thanks for the hint! Do you have any plans on solving the geometric-shapes issue?

Martin Günther ( 2013-08-18 23:26:42 -0600 )edit

No plans, alas. It's likely you'll just have to pick one or the other forever. Sorry!

hsiao ( 2013-08-19 11:10:48 -0600 )edit

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answered 2013-06-13 09:57:50 -0600

hsiao
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I just didn't port it forward because we were planning to switch to MoveIt! imminently. The switch still hasn't happened, though, so it should be brought back. It wouldn't be hard to upgrade--just some of the messages have changed somewhat. If you have time to get to it now I'd be happy to merge a pull request with it. Otherwise I'll try to get to it eventually-soonish.

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answered 2013-06-13 08:26:23 -0600

t.pimentel

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Hi Günther,

I don't know the answer to your first two questions, but you might want to check out MoveIt for the third question. It has some tutorials specific for the pr2, but can be used with other robots also and it can be used for pick and place operations.
If you have any questions about it you can ask in the google group or if you ask me I'll answer if I can.

Have a great day, Tiago Pimentel

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Hi Tiago, I'm aware of MoveIt and its Google group. However, AFAIK the pick and place functionalities are still work in progress. I'm looking for a way to get pick & place including tabletop object recognition, household_database, reactive pick and place and so on working in Groovy.

Martin Günther ( 2013-06-13 09:00:25 -0600 )edit

(continued...) If MoveIt already can do all (or any) of that, I'd be grateful for any tutorial/doc links. But I'm currently more interested in an easy transition route from code using the PickAndPlaceManager on Fuerte to Groovy, I don't care whether it's MoveIt or arm_navigation.

Martin Günther ( 2013-06-13 09:02:59 -0600 )edit

Anyway, thanks for trying to help!

Martin Günther ( 2013-06-13 09:03:16 -0600 )edit

Ok, I am still relatively new to MoveIt and haven't used it enough to know how far developed it is or isn't for all of that, but if you want to know more you can always ask Ioan, one of the main developers of the project. He usually answers emails pretty quickly. Good luck with your project!

t.pimentel ( 2013-06-13 09:08:14 -0600 )edit

The farthest I got with pick and place operations in MoveIt was similar to this example code, just doing a simple pick and place of a "box" object and seeing it in RViz.

t.pimentel ( 2013-06-13 09:13:27 -0600 )edit

Thanks for the link! :-)

Martin Günther ( 2013-06-13 09:24:37 -0600 )edit

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What happened to the Pick And Place Manager in groovy?

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