crlab / curpp

A pick place grasp analyzer and executor

curpp

Columbia University Robotics Pick and Place - A wrapper around the Moveit! Pick and Place pipeline

Setup

Import this folder into the src directory of your ros workspace and build your workspace:

$ catkin build

This package requires ipdb, asyncio, and packages that are all included in ros-kinetic-desktop-full

Usage

import curpp
import rospy
import os
import rospkg

rospy.init_node("curpp_demo")

rospack = rospkg.RosPack()
config = curpp.config.Config(os.path.join(rospack.get_path('curpp'), "configs", "mico_config.yaml"))

skill_manager = curpp.skills.CURPPManager(config)

curpp's Issues

Add OctoMap server to launch file

moveit_trajectory_planner should have a launch file that bring up octomap

Integrate octomap

issue #1 -- bring up octomap in launch file
issue #2 -- connect octomap to moveit
issue #3 - Bring up the robot self filter and make sure it works -- This makes sure the robot doesn't think it is in collision with octomap points that belong to it.

Set MoveIt to listen to published octomap

connect the input topic on moveit for collision maps to octomap