[Documentation] [TitleIndex] [WordIndex

Only released in EOL distros:  

turtlebot_arm: turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_interactive_markers | turtlebot_block_manipulation | turtlebot_kinect_arm_calibration

Package Summary

turtlebot_block_manipulation contains a demo allowing the TurtleBot arm to manipulate small blocks on a level surface using interactive markers.

turtlebot_arm: turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_interactive_markers | turtlebot_block_manipulation | turtlebot_kinect_arm_calibration

Package Summary

turtlebot_block_manipulation contains a demo allowing the TurtleBot arm to manipulate small blocks on a level surface using interactive markers.

Package Summary

turtlebot_block_manipulation contains a demo allowing the TurtleBot arm to manipulate small blocks on a level surface using interactive markers.

Documentation

This Tutorial will walk you through running this demo on your own TurtleBot.

Video

Requirements

arm.launch and simple_arm_server.launch from the turtlebot_arm_bringup package have to be running. Additionally, it requires an external kinect to be running and calibrated to the robot.

Files

demo/demo_actions.launch

launch/block_manipulation_old_kinect.launch

launch/block_manipulation.launch

demo/calibrate.launch

Nodes

interactive_manipulation_action_server

Provides an action-based interactive marker server for prompting the user to move blocks around. Requires a goal specifying where the the blocks are, and publishes a result containing a start pose and end pose.

Subscribed Topics

/turtlebot_blocks (geometry_msgs/PoseArray)

Published Topics

/pick_and_place (geometry_msgs/PoseArray)

Parameters

~bump_size (double, default: 0.005)

block_detection_action_server

Detects blocks of a certain size on a flat surface, given from an action goal.

Subscribed Topics

/camera/depth_registered/points (sensor_msgs/PointCloud2)

Published Topics

/turtlebot_blocks (geometry_msgs/PoseArray) block_output (sensor_msgs/PointCloud2)

Required tf Transforms

pointcloud framearm_link (from goal)

pick_and_place_action_server

Interfaces with the simple_arm_server for the TurtleBot arm to move an object from the start pose to the end pose.

Actions

BlockDetection.action

#goal definition
string frame
float32 table_height
float32 block_size
---
#result definition
geometry_msgs/PoseArray blocks
---
#feedback

InteractiveBlockManipulation.action

#goal definition
string frame
float32 block_size
---
#result definition
geometry_msgs/Pose pickup_pose
geometry_msgs/Pose place_pose
---
#feedback

PickAndPlace.action

#goal definition
string frame
float32 z_up
float32 gripper_open
float32 gripper_closed
geometry_msgs/Pose pickup_pose
geometry_msgs/Pose place_pose
string topic
---
#result definition
---
#feedback


2019-10-19 13:17