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How to add objects to a local household database ?

asked 2011-04-01 02:34:30 -0500

Guido gravatar image

updated 2011-06-17 10:18:50 -0500

kwc gravatar image

Hi all,

I'm trying to add objects to the household database downloaded from willow garage. However, i don't know how to add the objects to the database. The API documentation of household_objects_database mention a PLYModelLoader class, but i'm unable to find it in my ROS files. My ROS version is cturtle 1.2.4 .

Any idea how to do this ?

Best regards,

Guido

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answered 2011-06-17 11:31:15 -0500

ethanrublee gravatar image

You should update to atleast Diamondback, and checkout the source file https://code.ros.org/svn/wg-ros-pkg/stacks/object_manipulation/trunk/household_objects_database/src/mesh_loader.cpp

Try using this as a template to move forward.

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Thanks for the answer, I will try upgrading to diamondback first and then we will see.
Guido gravatar imageGuido ( 2011-06-20 21:18:23 -0500 )edit
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answered 2011-06-20 04:53:53 -0500

Matei Ciocarlie gravatar image

After upgrading to diamondback, also take a look at the insert_model.cpp node in the household_objects_database package. It is somewhat crude and not well parameterized, but should have all the info needed.

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Okay, I will try this. Thanks for the reply.
Guido gravatar imageGuido ( 2011-06-20 21:17:40 -0500 )edit

As a note, insert_model will try to copy the geometry file to a location specified in the database itself, by the MODEL_ROOT entry in the "variables" table. Change that to point to somewhere in your filesystem before trying insert_model.

Matei Ciocarlie gravatar imageMatei Ciocarlie ( 2012-04-13 10:38:24 -0500 )edit

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Asked: 2011-04-01 02:34:30 -0500

Seen: 314 times

Last updated: Jun 20 '11