skumra / baxter-pnp Goto Github PK
View Code? Open in Web Editor NEWBaxter Pick and Place using GR-ConvNet. IROS 2020.
License: GNU General Public License v3.0
Baxter Pick and Place using GR-ConvNet. IROS 2020.
License: GNU General Public License v3.0
Hi! Thanks for your repository!
I have a camera D435i, but I don't have a robot, can I only do simulate with the Realsense camera in Gazebo?
Thanks in advance!
I had a problem with cmake
Can this be applied on ROS Melodic, which can be installed on Ubuntu18.04? The ROS Kinetic will no longer be supported soon according to http://wiki.ros.org. When I ran the code catkin_make
, with Ubuntu18.04 and ROS Melodic, I got this:
Base path: /media/ghost/start/zyc/GR-ConvNet/ros_ws
Source space: /media/ghost/start/zyc/GR-ConvNet/ros_ws/src
Build space: /media/ghost/start/zyc/GR-ConvNet/ros_ws/build
Devel space: /media/ghost/start/zyc/GR-ConvNet/ros_ws/devel
Install space: /media/ghost/start/zyc/GR-ConvNet/ros_ws/install
####
#### Running command: "cmake /media/ghost/start/zyc/GR-ConvNet/ros_ws/src -DCATKIN_DEVEL_PREFIX=/media/ghost/start/zyc/GR-ConvNet/ros_ws/devel -DCMAKE_INSTALL_PREFIX=/media/ghost/start/zyc/GR-ConvNet/ros_ws/install -G Unix Makefiles" in "/media/ghost/start/zyc/GR-ConvNet/ros_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /media/ghost/start/zyc/GR-ConvNet/ros_ws/devel
-- Using CMAKE_PREFIX_PATH: /media/ghost/start/zyc/GR-ConvNet/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /media/ghost/start/zyc/GR-ConvNet/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /media/ghost/start/zyc/GR-ConvNet/ros_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 16 packages in topological order:
-- ~~ - baxter_common (metapackage)
-- ~~ - baxter_description
-- ~~ - baxter_sdk (metapackage)
-- ~~ - baxter_simulator (metapackage)
-- ~~ - rethink_ee_description
-- ~~ - baxter_maintenance_msgs
-- ~~ - baxter_core_msgs
-- ~~ - baxter_interface
-- ~~ - baxter_sim_controllers
-- ~~ - baxter_sim_io
-- ~~ - baxter_tools
-- ~~ - baxter_gazebo
-- ~~ - baxter_sim_kinematics
-- ~~ - baxter_sim_hardware
-- ~~ - baxter_sim_examples
-- ~~ - baxter_examples
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'baxter_common'
-- ==> add_subdirectory(baxter_common/baxter_common)
-- +++ processing catkin package: 'baxter_description'
-- ==> add_subdirectory(baxter_common/baxter_description)
-- +++ processing catkin metapackage: 'baxter_sdk'
-- ==> add_subdirectory(baxter/baxter_sdk)
-- +++ processing catkin metapackage: 'baxter_simulator'
-- ==> add_subdirectory(baxter_simulator/baxter_simulator)
-- +++ processing catkin package: 'rethink_ee_description'
-- ==> add_subdirectory(baxter_common/rethink_ee_description)
-- +++ processing catkin package: 'baxter_maintenance_msgs'
-- ==> add_subdirectory(baxter_common/baxter_maintenance_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- baxter_maintenance_msgs: 7 messages, 0 services
-- +++ processing catkin package: 'baxter_core_msgs'
-- ==> add_subdirectory(baxter_common/baxter_core_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- baxter_core_msgs: 25 messages, 4 services
-- +++ processing catkin package: 'baxter_interface'
-- ==> add_subdirectory(baxter_interface)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'baxter_sim_controllers'
-- ==> add_subdirectory(baxter_simulator/baxter_sim_controllers)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find effort_controllers (missing: effort_controllers_DIR)
-- Could not find the required component 'effort_controllers'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"effort_controllers" with any of the following names:
effort_controllersConfig.cmake
effort_controllers-config.cmake
Add the installation prefix of "effort_controllers" to CMAKE_PREFIX_PATH or
set "effort_controllers_DIR" to a directory containing one of the above
files. If "effort_controllers" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
baxter_simulator/baxter_sim_controllers/CMakeLists.txt:4 (find_package)
-- Configuring incomplete, errors occurred!
See also "/media/ghost/start/zyc/GR-ConvNet/ros_ws/build/CMakeFiles/CMakeOutput.log".
See also "/media/ghost/start/zyc/GR-ConvNet/ros_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
I'm not sure if it arose out of the wrong distribution of ROS or not. But there had been no errors when I ran catkin_make
in a project which was initialized using catkin_init_workspace
.
Thanks for your work!
I'm trying to use this repository on a real Baxter robot. However it seems that the package.xml
and CMakeLists.txt
are missing. As such, the package is not built by catkin. Could you provide these files please?
Thank you very much.
When I got to catkin_make,terminal error:
/home/fang/ros_ws/src/baxter_simulator/baxter_sim_kinematics/src/arm_kinematics.cpp:248:65: error: conversion from ‘urdf::LinkConstSharedPtr {aka std::shared_ptr}’ to non-scalar type ‘boost::shared_ptr’ requested
boost::shared_ptr link = robot_model.getLink(tip_name);
/home/fang/ros_ws/src/baxter_simulator/baxter_sim_kinematics/src/arm_kinematics.cpp:255:60: error: no match for ‘operator=’ (operand types are ‘boost::shared_ptr’ and ‘urdf::JointConstSharedPtr {aka std::shared_ptr}’)
joint = robot_model.getJoint(link->parent_joint->name);
homedir = os.path.join(os.path.expanduser('~'), "grasp-comms")
self.grasp_request = os.path.join(homedir, "grasp_request.npy")
self.grasp_available = os.path.join(homedir, "grasp_available.npy")
self.grasp_pose = os.path.join(homedir, "grasp_pose.npy")
I am a new guy and I don't understand something about your code.
Did you convert the grasp infomation such as pick position generated from grconvnet to .npy format files?
And in baxter-pnp, you read these files to get the grasp info so that the robot can finish the pick and place mission.
If not, I want to know how do you implement the connection between the output of your network and the input of your robot.
thanks you for your work.
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