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object_manipulation: bayesian_grasp_planner | household_objects_database | household_objects_database_msgs | object_manipulation_msgs | object_manipulator | probabilistic_grasp_planner | rviz_interaction_tools | static_transform_broadcaster

Stack Summary

Functionality for performing object pickup and placing, while avoiding collisions with the environment. This stack is designed to be robot independent. It contains a complete interface for pickup and place tasks, as well as general implementation of most of the needed functionality.

• Author: Maintained by Matei Ciocarlie
• License: BSD,except for source files individually marked otherwise
• Repository: wg-ros-pkg
• Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/object_manipulation/branches/0.4-branch

Overview

This stack provides the core-functionality for pick and place tasks, implemented in a robot-independent way. For details and documentation, see the object_manipulator package page.

For a complete application, this stack needs to be complemented by robot-specific implementations of (a few) specific components. For the PR2 robot, these can be found, along with PR2 specific launch files, in the stack pr2_object_manipulation. This stack also assumes external sensor input regarding the environment and the object to be grasped. An implementation of all the sensor data processing needed to run this stack can be found in the companion stack tabletop_object_perception.

Complete applications of the functionality contained here on PR2 robot can be found, along with demos and launch files as well as documentation and tutorials, in the pr2_tabletop_manipulation_apps stack.

Documentation

The two main components of this stack are:

• object_manipulator: this package contains most of the core functionality for pickup and place tasks.

• object_manipulation_msgs: defines the generic messages used in the manipulation pipeline.

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.

Report a Bug

Use trac to report bugs or request features. [View active tickets]