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Only released in EOL distros:  

tabletop_object_perception: active_realtime_segmentation | fast_plane_detection | object_recognition_gui | object_segmentation_gui | tabletop_collision_map_processing | tabletop_object_detector

Package Summary

Populates and manages a collision environment using the results of sensor processing from the tabletop_object_detector. Functionality includes adding and removing detected objects from the collision environment, and requesting static collision maps for obstacle avoidance.

pr2_object_manipulation: active_realtime_segmentation | fast_plane_detection | manipulation_worlds | object_recognition_gui | object_segmentation_gui | pick_and_place_demo_app | pr2_create_object_model | pr2_grasp_adjust | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_handy_tools | pr2_interactive_gripper_pose_action | pr2_interactive_manipulation | pr2_interactive_object_detection | pr2_manipulation_controllers | pr2_marker_control | pr2_navigation_controllers | pr2_object_manipulation_launch | pr2_object_manipulation_msgs | pr2_pick_and_place_demos | pr2_tabletop_manipulation_launch | pr2_wrappers | rgbd_assembler | robot_self_filter_color | segmented_clutter_grasp_planner | simple_Jtranspose_controller | tabletop_collision_map_processing | tabletop_object_detector | tabletop_vfh_cluster_detector | vfh_recognition | vfh_recognizer_db | vfh_recognizer_fs

Package Summary

Populates and manages a collision environment using the results of sensor processing from the tabletop_object_detector. Functionality includes adding and removing detected objects from the collision environment, and requesting static collision maps for obstacle avoidance.

tabletop_object_perception: active_realtime_segmentation | fast_plane_detection | object_recognition_gui | object_segmentation_gui | tabletop_collision_map_processing | tabletop_object_detector

pr2_object_manipulation: active_realtime_segmentation | fast_plane_detection | manipulation_worlds | object_recognition_gui | object_segmentation_gui | pick_and_place_demo_app | pr2_create_object_model | pr2_grasp_adjust | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_handy_tools | pr2_interactive_gripper_pose_action | pr2_interactive_manipulation | pr2_interactive_object_detection | pr2_manipulation_controllers | pr2_marker_control | pr2_navigation_controllers | pr2_object_manipulation_launch | pr2_object_manipulation_msgs | pr2_pick_and_place_demos | pr2_pick_and_place_tutorial | pr2_tabletop_manipulation_launch | pr2_wrappers | rgbd_assembler | robot_self_filter_color | segmented_clutter_grasp_planner | tabletop_collision_map_processing | tabletop_object_detector | tf_throttle

Package Summary

Populates and manages a collision environment using the results of sensor processing from the tabletop_object_detector. Functionality includes adding and removing detected objects from the collision environment, and requesting static collision maps for obstacle avoidance.

pr2_object_manipulation: interactive_perception_msgs | manipulation_worlds | object_recognition_gui | pr2_create_object_model | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_interactive_gripper_pose_action | pr2_interactive_manipulation | pr2_interactive_manipulation_frontend | pr2_interactive_object_detection | pr2_interactive_object_detection_frontend | pr2_manipulation_controllers | pr2_marker_control | pr2_navigation_controllers | pr2_object_manipulation_launch | pr2_object_manipulation_msgs | pr2_pick_and_place_demos | pr2_tabletop_manipulation_launch | pr2_wrappers | rgbd_assembler | robot_self_filter_color | segmented_clutter_grasp_planner | tabletop_collision_map_processing | tabletop_object_detector | tf_throttle

Package Summary

Populates and manages a collision environment using the results of sensor processing from the tabletop_object_detector. Functionality includes adding and removing detected objects from the collision environment, and requesting static collision maps for obstacle avoidance.

Collision Map Processing

This stack has two main roles:

coll_map1.png

Image of the Collision Map. Note the points from the tilting laser (in cyan) and the explicitly recognized objects (in green)

coll_map2.png

Detail of the Collision Map. Note that the recognized objects have been added as triangle meshes, while the unrecognized object has been added as a bounding box.

ROS API

This package provides a single service, TabletopCollisionMapProcessing, which performs all of the above tasks.

Running the Manipulation Pipeline

To launch the manipulation pipeline, complete with the sensor processing provided here, and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in pr2_tabletop_manipulation_apps.


2019-11-16 13:24