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This package provides a graphical user interface in form of an rviz plugin for interactive object segmentation. The segmentation method comes from the grabcut_3d package.

This package is based on the following paper:

B. Pitzer, M. Styer, C. Bersch, C. DuHadway, and J. Becker, Towards Perceptual Shared Autonomy for Robotic Mobile Manipulation, in Proc. IEEE International Conference on Robotics & Automation (ICRA), 2011. Link to PDF


To use the interactive segmentation, you will need the trunk of the pr2_object_manipulation stack and some additional packages such as grabcut_3d.

The following rosinstall file will get everything for you:

- svn: 
    local-name: bosch_object_segmentation_gui
    uri: 'https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/shared_autonomy/bosch_object_segmentation_gui'
- svn: 
    local-name: grabcut_3d
    uri: 'https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/shared_autonomy/grabcut_3d'
- svn: 
    local-name: rviz
    uri: 'https://code.ros.org/svn/ros-pkg/stacks/visualization/trunk/rviz'
- svn: 
    local-name: visualization_msgs
    uri: 'https://code.ros.org/svn/ros-pkg/stacks/common_msgs/trunk/visualization_msgs'
- svn: 
    local-name: interactive_marker_tutorials
    uri: 'https://code.ros.org/svn/ros-pkg/stacks/visualization_tutorials/trunk/interactive_marker_tutorials'
- svn: 
    local-name: interactive_markers
    uri: 'https://code.ros.org/svn/ros-pkg/stacks/visualization/trunk/interactive_markers'
- svn: 
    local-name: ogre_tools
    uri: 'https://code.ros.org/svn/ros-pkg/stacks/visualization_common/trunk/ogre_tools'
- svn: 
    local-name: pr2_object_manipulation
    uri: 'https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/trunk/'

Note: To use the rosinstall file, create a new directory (e.g. interactive_segmentation), create a file named interactive_segmentation.rosinstall in this folder and paste the above text into it, go to the directory in a terminal and type

rosinstall . interactive_segmentation.rosinstall /opt/ros/electric
source ./setup.sh
rosmake pr2_interactive_manipulation
rosmake bosch_object_segmentation_gui

Please refer to the rosinstall page for more details.

Running the Application

On the PR2 launch the interactive manipulation stack

roslaunch pr2_interactive_manipulation pr2_interactive_manipulation_robot.launch

On a desktop run (after exporting the ROS_MASTER_URI to your robot)

roslaunch bosch_object_segmentation_gui pr2_interactive_manipulation_desktop.launch

Once rviz is started select the interactive segmentation and wait until the window opens.

GrabCut3D GUI GrabCut3D GUI

2024-07-13 12:38