drink_serving: bosch_drawer_executive | busbot_bringup | busbot_description | busbot_driver | busbot_filter | busbot_gazebo | busbot_launch | busbot_navigation | busbot_node | ds_common_msgs | ds_master_executive | ds_pr2_2dnav | ds_pr2_drink_fetching_planner | ds_pr2_drop_drink | ds_pr2_fridge_drink_perception | ds_pr2_fridge_handle_detector | ds_pr2_fridge_manipulation_executive | ds_pr2_fridge_opener | ds_turtle_2dnav | ds_webinterface | keyboard_smooth | keyboard_smooth_safe | marker_detector_tbot | multi_robot_visualization

Package LinksDependencies (3)

Package Summary

fridge_handle_detector

Contents

    1. Package Summary
  2. Usage:
    1. Start torso kinect:
    2. Start handle detector

Package ds_pr2_fridge_handle_detector makes use of torso-mounted Kinect sensor on a PR2 robot and detects the pose of the center of the handle of the refrigerator.

torso_kinect_handles.png

Usage:

Start torso kinect:

roslaunch kinect_launch openni_node_kinect_torso_c2.launch (works for Bosch's PR2 robot, please change for your configuration accordingly)

Start handle detector

roslaunch ds_pr2_fridge_handle_detector handle_detector.launch

The handles will be published on a topic: drawer_handles_detector/handle_projected_inliers/output which you can use for viewing in rviz.

The topic is fed directly to Perception3d.cpp of ias_drawer_executive and used in the fridge opening cycle.

Wiki: ds_pr2_fridge_handle_detector (last edited 2011-08-02 17:55:17 by Kyle Maroney)

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