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CTP on the Real TOM robot

Starting

roslaunch ctp_tom planner.launch

After startup, you should see something like this:

TOM with blocks, box, and drill in RVIZ

Fake (Debugging) Setup

roslaunch ctp_tom planner.launch
rosrun ctp_tom fake_objects.py # add some extra oranges to the scene
rosrun ctp_tom parse.py a.bag,b.bag,c.bag --fake --show

You can run the parse.py script with many different arguments and rosbags. Some examples:

parse.py $BAGS --fake # provide fake object detections and compile task
parse.py $BAGS --fake --show # show a graph
parse.py $BAGS --fake --plan # compute a plan
parse.py $BAGS --fake --plan --max_depth $X --iter $Y # change planning params

Using these without the --fake flag is currently a WIP.

Current Commands To Run

roslaunch ctp_tom planner.launch fake:=True
rosrun ctp_tom parse.py --fake --show --debug cubes_test/Gripper/planning_gripper_cubes_2018-02-23-15-18-41.bag

You should see a graph of the actions being performed, and which objects they were relative to.

The TOM-Test script contains actual execution code, once we have a working graph:

rosrun ctp_tom tom_test.py

However this is not currently configured (as of 2018-03-30) to run graphs parsed from rosbag files.

Execution Setup (Work in progress)

export BAGS=a.bag,b.bag,c.bag,d.bag,e.bag
roslaunch ctp_tom planner.launch slave:=true
rosrun ctp_tom parse.py $BAGS --plan --execute

ROS Topics

RQT Graph from planner.launch

Key topics:

  • /camera/depth_registered/points
  • /joint_states
  • /collison_object
  • /tf
  • /camera/depth/camera_info
  • /tf_static

Components

The Table Integrator

This script uses the integrator tool to publish a single frame for the table location in /camera_rgb_optical_frame.

The table_integrator.py script itself just computes a few transforms based on observed data, and is not perfect.

You may wish to change:

  • the rotations and translations between markers. these are all transforms from the marker to /ar_marker_0. After this, an offset is applied to push everything into the right frame for the table.
  • the offset. This is what actually computes the location of the table.
  • history length. This is used to get "smooth" estimates of where the table is.