sandbox

Package Summary

Jsk_tidyup_demos is a set of demonstrations using PR2 and several ROS packages. It includes PR2: 1. collects small objects on the table and carrying them them to another place using a tray. 2. finds a dish by detecting circlar figures, grasps it and carries it to another place. 3. collects washing on a chair by finding wrinkle feature 4. finds an object using stereo points and then identifies it by comparing SURF feature on it and what the robot learned previously.

• Author: K.Yamazaki, H.Yaguchi and R.Hanai
• License: BSD
• Repository: wg-ros-pkg (https://code.ros.org/svn/wg-ros-pkg)

Video

Usage

To run the demos, do the following:

roslaunch jsk_tidyup_demos demo.launch

Then start Python shell and type some commands.

roscd jsk_tidyup_demos/scripts
python
from demo import *
d = JskDemo()
d.demo1()
d.demo2()
d.demo3()
d.demo4()

If you want to view the status of navigation, use rviz.

roslaunch 2dnav_pr2 rviz_move_base.launch

Note that jsk_tidyup_demo.launch and Python shell need to be executed on the robot.