Handle Detector

Author: Andreas ten Pas (atp@ccs.neu.edu)

Version: 1.0.0

Wiki: http://wiki.ros.org/handle_detector

Author’s Website: http://www.ccs.neu.edu/home/atp/

OVERVIEW

This package takes a point cloud as input and produces a list of handels / enveloping grasp affordances as output.

Input: point cloud

Output: handles / enveloping grasp affordances

REQUIREMENTS

1. ROS Kinetic (http://wiki.ros.org/kinetic)
2. Lapack (install in Ubuntu using: sudo apt-get install liblapack-dev)
3. Openni_launch (http://wiki.ros.org/openni_launch; install in Ubuntu using: sudo apt install ros-kinetic-openni-launch)

INSTRUCTIONS

1. Run handle detection on a *.pcd file: roslaunch handle_detector localization_pcd_file.launch
2. Run handle detection with a depth sensor (e.g., Kinect): roslaunch handle_detector localization_sensor.launch
3. Run handle detection with importance sampling on a *.pcd file: roslaunch handle_detector importance_sampling_pcd_file.launch

For detailed instructions, have a look at: http://wiki.ros.org/handle_detector.

Changelog for package handle_detector

1.3.1 (2015-06-16)

• removed pcl ros includes from importance sampling
• update CHANGELOG
• update CHANGELOG
• Contributors: atenpas

1.3.0 (2015-06-10)

• remove pcl_ros dependency
• Contributors: atenpas

1.2.0 (2015-05-16)

• update launch files with relative paths
• Contributors: atenpas

1.1.1 (2015-05-14)

• updated CMakeList for indigo
• speeds up shell search (thanks to Sachin Patil)
• added workspace filter with transform; changed BCI numbering
• changed to std::size_t where std::vectors are used in for loops
• Contributors: atenpas

1.1.0 (2014-07-24)

• updated readme
• updated CMakeLists and package.xml
• cleaned up folders; added documentation
• added importance sampling (reduces number of samples)
• Contributors: atenpas

1.0.7 (2014-04-09)

• removed LIBRARIES from catkin_package(...) call in CMakeLists.txt
• changed naming of libraries and executable in CMakeLists.txt so that it contains the project name
• added libs to install targets in CMakeLists
• Contributors: atenpas

1.0.6 (2014-03-25)

• Merge pull request #1 from cottsay/master Fix Fedora build errors
• Move default affordances values into source file I really couldn't tell you exactly why this was failing builds on 32-bit Fedora, but in any case this fixes it.
• Build message_lib only after message generation On faster machines, the makefile generated by cmake will thread quite a lot, and will attempt to compile messages_lib before the header files have been generated, failing the build. This will force make to wait for the message generation to complete.
• Contributors: Scott K Logan, atenpas

1.0.5 (2014-03-18)

• updated CMakeLists.txt and package.xml
• Contributors: atenpas

1.0.4 (2014-03-13)

• added visualization_msgs to manifest and CMakeLists
• Contributors: Andreas

1.0.2 (2014-03-12)

• 1.0.1
• updated CHANGELOG
• fixed catkin warnings (using catkin_lint)
• Contributors: Andreas

1.0.1 (2014-03-12)

• fixed catkin warnings (using catkin_lint)
• Contributors: Andreas

1.0.0 (2014-03-09)

• moved from bitbucket to github
• Initial commit
• Contributors: atenpas