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grasp_planning_graspit_ros package from graspit_tools repograsp_planning_graspit grasp_planning_graspit_msgs grasp_planning_graspit_ros graspit_tools jaco_graspit_sample urdf2graspit |
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Package Summary
| Tags | No category tags. |
| Version | 1.2.0 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/JenniferBuehler/graspit-pkgs.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-10-27 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS services for the grasp_planning_graspit package
Additional Links
No additional links.
Maintainers
- Jennifer Buehler
Authors
- Jennifer Buehler
grasp_planning_graspit_ros
ROS wrapper for GraspIt! planning interface in the package grasp_planning_graspit. Also provides ROS services for accessing the interface.
Please refer to this wiki page for more information.
CHANGELOG
Changelog for package grasp_planning_graspit_ros
1.2.0 (2018-01-06)
1.1.3 (2018-01-05)
- Adaptation for graspit upstream merge
- Changed link/finger names for new jaco
- Contributors: Jennifer Buehler
1.1.1 (2016-08-07)
1.1.0 (2016-07-26)
1.0.0 (2016-06-08)
- Now compiles with new graspit and new urdf2inventor
- Contributors: Jennifer Buehler
0.1.5 (2016-04-02)
- Added pre-grasp state computation
- Added helper class EigenGraspPlannerClient and some example grasp results for Jaco
- Now support addition of an auto-grasp as finalization of grasp planning, and control of how many results are saved
- Added means to save a Grasp.msg and added a table obstacle
- Contributors: Jennifer Buehler
0.1.3 (2016-03-08)
- added launch directory installs
- Adapted cmake file to for jenkins, and removed c++11 flag, which required fixing two little things in sources
- Contributors: Jennifer Buehler
0.1.2 (2016-03-04)
0.1.0 (2016-03-02)
- roslinted
- graspit fork is now compiled into libraries here and doesn't need to be installed separately
- Contributors: Jennifer Buehler
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| graspit_tools |
Launch files
- launch/grasp_planning_service.launch
-
- config_file [default: $(find grasp_planning_graspit_ros)/config/GraspItServices.yaml]
- node_name [default: graspit_planning_service]
- results_output_directory
- launch/eigengrasp_planner_client_params.launch
-
- node_name
- config_file [default: $(find grasp_planning_graspit_ros)/config/EigenGraspPlannerClient.yaml]
- launch/graspit_planner_jaco_example.launch
-
- graspit_world_file [default: $(find jaco_graspit_sample)/worlds/jaco_robot_world.xml]
- graspit_robot_file [default: $(find jaco_graspit_sample)/models/robots/jaco_robot/jaco_robot.xml]
- graspit_object_file [default: $(find jaco_graspit_sample)/models/objects/small_cube.xml]
- graspit_planning_algorithm [default: SimAnn]
- max_planning_steps [default: 70000]
- num_repeat_planning [default: 1]
- save_result_files_inventor [default: true]
- save_result_files_graspit [default: true]
- results_output_directory
- launch/graspit_planner.launch
-
- use_world_file
- graspit_world_file
- graspit_robot_file
- graspit_object_file
- graspit_planning_algorithm [default: SimAnn]
- max_planning_steps [default: 70000]
- num_repeat_planning [default: 1]
- save_result_files_inventor [default: true]
- save_result_files_graspit [default: true]
- results_output_directory
- test/graspit_eigengrasp_planner_client_example.launch
-
- robot_name [default: jaco_robot]
- object_id [default: 2]
- output_dir [default: ]
- test/graspit_add_object_example.launch
-
- object_name [default: small_cube]
- object_file [default: $(find jaco_graspit_sample)/models/objects/small_cube.xml]
- load_table [default: false]
- table_name [default: table]
- table_file [default: $(find jaco_graspit_sample)/models/obstacles/table.xml]
- test/graspit_add_robot_example.launch
-
- robot_name [default: jaco_robot]
- robot_file [default: $(find jaco_graspit_sample)/models/robots/jaco_robot/jaco_robot.xml]
- finger_names [default: jaco_finger_joint_0 jaco_finger_joint_2 jaco_finger_joint_4]
- test/graspit_load_models_example.launch
-
- robot_id [default: 1]
- object_id [default: 2]
- table_id [default: 3]
- load_table [default: false]
- rbt_x [default: 0]
- rbt_y [default: 0]
- rbt_z [default: 200]
- rbt_qx [default: 0]
- rbt_qy [default: 0.7071]
- rbt_qz [default: 0]
- rbt_qw [default: 0.7071]
- obj_x [default: 100]
- obj_y [default: 0]
- obj_z [default: 0]
- tbl_x [default: 0]
- tbl_y [default: -250]
- tbl_z [default: 500]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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