aaai_lfd_demo: aaai_lfd_demo_executive | aaai_lfd_demo_launch | aaai_lfd_mixed_manipulator | aaai_lfd_pick_and_place_service | aaai_lfd_simulator | aaai_object_detection | arm_file_control | openloop_object_manipulation | rl_2dnav
Package Summary
aaai_lfd_simulator
- Author: Ralf Kempf (Maintained by Sarah Osentoski)
- License: BSD
- Repository: bosch-ros-pkg
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/aaai_lfd_demo/aaai_lfd_simulator
Contents
Description
This package will launch a Gazebo world with the AAAI LfD task environment and a PR2 in the simulation. The environment and a PR2 will be launched by using the following command:
roslaunch aaai_lfd_simulator simulation_world.launch
This launchfile sets two parameters which are necessary in the simulation to make the PR2 grasp and pick up items:
<param name="r_gripper_controller/gripper_action_node/stall_velocity_threshold" value="0.01" type="double"/> <param name="l_gripper_controller/gripper_action_node/stall_velocity_threshold" value="0.01" type="double"/>
Furthermore it contains a node to move the torso of the PR2 up to the necessary position for the task. This node can be launched by using the following instruction:
roslaunch aaai_lfd_simulator torso_up.launch
note: this node will be launched automatically when following the instructions for using the aaai_lfd_demo in simulation.