Only released in EOL distros:
pr2_object_manipulation: pr2_grasp_adjust | pr2_gripper_click | 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_object_manipulation_launch | rgbd_assembler | simple_Jtranspose_controller
Package Summary
No API documentation
Implementation of the hand posture grasp controller for the PR2 gripper.
- Author: Matei Ciocarlie
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/tags/pr2_object_manipulation-0.4.4
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
Documented
Implementation of the hand posture grasp controller for the PR2 gripper.
- Author: Matei Ciocarlie
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.5-branch
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
Documented
Implementation of the hand posture grasp controller for the PR2 gripper.
- Author: Matei Ciocarlie
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.6-branch
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
Documented
Implementation of the hand posture grasp controller for the PR2 gripper.
- Author: Matei Ciocarlie
- License: BSD
- Source: git https://github.com/ros-interactive-manipulation/pr2_object_manipulation.git (branch: groovy-devel)
Services the GraspHandPostureExecution action and GraspHandPostureQuery service, as requested by the object_manipulator.
This package is mostly a thin wrapper for the pr2_gripper_action which talks directly to the PR2 gripper controller.
Running the Manipulation Pipeline
To launch the manipulation pipeline and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in pr2_tabletop_manipulation_apps.
ROS API
Parameters
gripper_virtual_joint_name (string, default: "undefined")
Services Provided
Services
grasp_query_name (object_manipulation_msgs/GraspStatus)
Action Servers Provided
- posture_action_name (object_manipulation_msgs/GraspHandPostureExecutionAction)
Action Servers Required
- gripper_action_name (pr2_controllers_msgs/Pr2GripperCommandAction)
Subscribers