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pr2eus_tutorials package from jsk_pr2eus repo

jsk_pr2eus pr2eus pr2eus_armnavigation pr2eus_impedance pr2eus_moveit pr2eus_openrave pr2eus_tutorials

ROS Distro
melodic

Package Summary

Tags	No category tags.
Version	0.3.15
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	PR2 euslisp packages
Checkout URI	https://github.com/jsk-ros-pkg/jsk_pr2eus.git
VCS Type	git
VCS Version	master
Last Updated	2025-05-10
Dev Status	DEVELOPED
Released	RELEASED
Tags	hacktoberfest
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

pr2eus_tutorials

Additional Links

Website

Maintainers

Kei Okada
Masaki Murooka

Authors

Kei Okada

pr2eus_tutorials/README.md

pr2eus_tutorials

This is a repository for tutorials of pr2eus

Installation

To play with this package, you can choose from two installation methods. We assume the ROS environment is kinetic. If you use ROS indigo distribution, please replace the word kinetic with indigo (or appropriate distributions).

Using pre-built package

Install ROS

Follow the instruction of ROS installation

Install the package

sudo apt install ros-kinetic-pr2eus-tutorials

Load ROS Environment

source /opt/ros/kinetic/setup.bash

Using source package

Install ROS

Follow the instruction of ROS installation

Setup catkin workspace

source /opt/ros/kinetic/setup.bash
sudo apt install python-catkin-tools python-wstool python-rosdep git
sudo rosdep init
rosdep update
# Create catkin workspace and download source repository
mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
wstool init
wstool set jsk-ros-pkg/jsk_pr2eus --git https://github.com/jsk-ros-pkg/jsk_pr2eus.git -v master
wstool update
# Install dependencies for building the package
rosdep install --from-paths . -i -r -n -y
# Build the package
cd ~/ros/kinetic
catkin init
catkin build

Load ROS Environment

source ~/ros/kinetic/devel/setup.bash

Tabletop Object Grasping Demo

Tabletop Object Grasping Demo with PR2

Startup nodes

First we need to start nodes used for this demo.

Using a real robot

# on PR2 real robot
ssh <robot address>
roslaunch pr2eus_tutorials pr2_tabletop.launch

If you try using compressed topic from the real PR2,

# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true

You can locate a desk in front of the robot and put any objects on it.

Using a simulator

You can set physics engine with roslaunch argument.

# on local machine
# It may take time to download materials for the first time
roslaunch pr2eus_tutorials pr2_tabletop_sim.launch physics:=dart

You can see the robot is spawned in a scene with a desk and some objects.

Run demo

Then we can now start the demo program for picking objects.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package pr2eus_tutorials

0.3.15 (2023-04-17)

integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
[pr2eus_tutorials] fix look-at-hand (#472)
[pr2eus_tutorials] fix pr2_tabletop.launch for remote PC (#459)
[pr2eus_tutorials] Fix publish status (#464)
[pr2eus_tutorials] Select grasp position via 2D image (#437)
Update pr2eus_tutorials README (#389)
[pr2eus_tutorials] add pr2 tabletop demo test and sample (#387)
Contributors: Furushchev, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Yuki Furuta

0.3.14 (2019-02-11)

add jsk_interactive_marker (#349 ) c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/348
Contributors: Kei Okada

0.3.13 (2017-07-14)

0.3.12 (2017-07-11)

0.3.11 (2017-06-25)

add test code for pr2 dual arm IK (#272 )
Contributors: Chi Wun Au

0.3.10 (2017-03-02)

0.3.9 (2017-02-22)

0.3.8 (2017-02-07)

0.3.7 (2016-11-08)

0.3.6 (2016-11-02)

0.3.5 (2016-09-16)

0.3.4 (2016-06-22)

0.3.3 (2016-05-28)

0.3.2 (2016-05-26)

0.3.1 (2016-05-22)

[pr2eus_tutorials/package.xml] add roseus_tutorials to run_depend
[pr2eus_tutorials/launch/pr2_tabletop.launch] fix camera namespace openni -> kinect_head_c2
[pr2eus_tutorials/launch/pr2_tabletop.launch] fix rviz config path
[pr2eus_tutorials] cleanup directory
- move gazebo related launch files to [launch/gazebo]{.title-ref} directory
- move rviz config file to [config]{.title-ref} directory
- fix include path in launch files
Contributors: Yuki Furuta

0.3.0 (2016-03-20)

add files for reach object demo.
[pr2eus_tutorials] remove dependency to pr2_gazebo.
catkinize pr2eus_tutorials
Contributors: Kei Okada, Masaki Murooka

0.2.1 (2016-03-04)

0.2.0 (2015-11-03)

0.1.11 (2015-06-11)

0.1.10 (2015-04-03 18:49)

0.1.9 (2015-04-03 16:52)

0.1.8 (2015-02-25)

0.1.7 (2015-02-10)

add empty map in pr2 gazebo startup
add startup launch file for gazebo pr2
rename parameter and delete unused arg
changed pos_z
changed codes to be used in hydro
add rot_{rpy} arguments to spawn_cylinder.launch
add object spawner for gazebo
remove absolute path
Contributors: YoheiKakiuchi, ohara, tarukosu

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	pr2eus
	catkin
	app_manager
	eusurdf
	pr2_gazebo
	roseus_tutorials
	image_view2
	jsk_pcl_ros
	jsk_interactive_marker
	jsk_recognition_msgs
	jsk_rviz_plugins
	jsk_pr2_startup
	jsk_maps
	rostest

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/gazebo/gazebo_image_relay.launch
launch/gazebo/pr2_gazebo_empty.launch
- - RUN_RVIZ [default: true]
  - LAUNCH_NAVI [default: true]
  - LAUNCH_BASE_CONTROLLER [default: true]
launch/gazebo/pr2_gazebo_objects.launch
- - run_rviz [default: true]
  - table_x_pos [default: 0.0]
launch/gazebo/pr2_gazebo_startup.launch
- - launch_empty_map [default: true]
  - launch_move_base [default: true]
  - launch_move_tilt_scan [default: true]
  - launch_moveit [default: false]
  - launch_moveit_gui [default: false]
  - launch_openni [default: true]
launch/gazebo/pr2_interactive_manipulation_sim.launch
launch/gazebo/pr2_tabletop_grasp_sim.launch
- - run_rviz [default: true]
launch/gazebo/pr2_tabletop_scene.launch
- - gui [default: true]
  - physics [default: ode]
launch/gazebo/pr2_tabletop_sim.launch
- - gui [default: true]
  - run_rviz [default: true]
  - publish_objects_tf [default: true]
  - physics [default: ode]
launch/gazebo/pr2_template_grasp_sim.launch
- - run_rviz [default: true]
launch/gazebo/spawn_box.launch
- - pos_x [default: 0.0]
  - pos_y [default: 0.0]
  - pos_z [default: 0.0]
  - rot_r [default: 0.0]
  - rot_p [default: 0.0]
  - rot_y [default: 0.0]
  - model_name [default: box]
  - color [default: Green]
  - size_x [default: 0.5]
  - size_y [default: 0.5]
  - size_z [default: 0.5]
launch/gazebo/spawn_cylinder.launch
- - pos_x [default: 0.0]
  - pos_y [default: 0.0]
  - pos_z [default: 0.0]
  - rot_r [default: 0.0]
  - rot_p [default: 0.0]
  - rot_y [default: 0.0]
  - model_name [default: cylinder]
  - color [default: Green]
  - length [default: 0.2]
  - radius [default: 0.05]
launch/gazebo/spawn_model_in_database.launch
- - pos_x [default: 0.0]
  - pos_y [default: 0.0]
  - pos_z [default: 0.0]
  - rot_r [default: 0.0]
  - rot_p [default: 0.0]
  - rot_y [default: 0.0]
  - model_name [default: table_model]
  - type_name [default: table]
launch/gazebo/spawn_objects.launch
launch/pr2_tabletop.launch
- - run_rviz [default: false]
  - publish_objects_tf [default: true]
  - launch_tracking [default: false]
  - manager [default: pr2_tabletop_object_detector_nodelet_manager]
  - sim [default: false]
  - remote [default: false]
launch/pr2_tabletop_grasp.launch
- - run_rviz [default: false]
  - manager [default: pr2_tabletop_object_detector_nodelet_manager]
  - machine [default: c2]
launch/tabletop_complete.launch
- - flatten_table [default: false]
  - model_set [default: REDUCED_MODEL_SET]
  - tabletop_segmentation_points_input [default: narrow_stereo_textured/points2]
launch/template_grasp.launch
- - kinect_camera_name [default: openni]
  - launch_object_manipulation [default: false]
  - launch_realtime_tabletop [default: true]
  - launch_objectdetection [default: false]
apps/tabletop_grasp/tabletop_grasp.xml

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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