Robocup2023 #325

vamsikalagaturu · 2024-01-19T15:44:24Z

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Closes #XX
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My code doesn't contain unnecessary comment blocks (e.g. unused code, templates of package.xml or CMakeLists.txt)
I have updated the package.xml and CMakeLists.txt with the correct dependencies.
I have updated the documentation accordingly.

for view_youbot and realsense dual camera

…inted mount

…k handling > Created a new state to handle shelf pick using pregrasp planner instead of MoveIt. Created a new ros param to toggle orientation independent IK for shelf pick. Co-authored-by: MannavaVivek <[email protected]> Co-authored-by: kvnptl <[email protected]>

This change introduces a toggle in the orientation-independent IK for shelf pick. It limits the pitch range to between -15.0 and -45.0 degrees. Co-authored-by: MannavaVivek <[email protected]> Co-authored-by: kvnptl <[email protected]>

sthoduka · 2024-03-04T15:39:03Z

...lation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/orientation_independent_ik.py

@@ -58,7 +61,13 @@ def get_reachable_pose_and_joint_msg_from_point(self, x, y, z, frame_id):
        :returns: (geometry_msgs.msg.PoseStamped, brics_actuator.JointPositions) or None

        """
-        pitch_ranges = [(0.0, 0.0), (-30.0, 0.0), (-60.0, -30.0), (-90.0, -60.0), (0.0, 10.0)]
+        # check is_picking_from_shelf from parameter server
+        self.is_picking_from_shelf = rospy.get_param("/pick_from_shelf_server/pick_statemachine_says_shelf", False)


param name should not be hard coded here. Maybe find a better way to send the info to this node

sthoduka · 2024-03-04T15:40:38Z

...anipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/pregrasp_planner_node.py

+        # self.original_pose_pub.publish(modified_pose)
+
+        # check is_picking_from_shelf from parameter server
+        self.is_picking_from_shelf = rospy.get_param("/pick_from_shelf_server/pick_statemachine_says_shelf", False)


sthoduka · 2024-03-04T15:43:10Z

mir_perception/mir_barrier_tape_detection/CMakeLists.txt

-    -O3
-)
+set (CMAKE_BUILD_TYPE Release)
+# add_compile_options(


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sthoduka · 2024-03-04T15:43:48Z

mir_perception/mir_empty_space_detection/ros/src/empty_space_detector.cpp

      event_out.data = "e_failure";
-      add_to_octree_ = true;
+      // add_to_octree_ = true;


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sthoduka · 2024-03-04T15:44:05Z

mir_perception/mir_empty_space_detection/ros/src/empty_space_detector.cpp

      event_out.data = "e_failure";
-      add_to_octree_ = true;
+      // add_to_octree_ = true;
    }
    //event_out.data = (success) ? "e_success" : "e_failure";


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sthoduka · 2024-03-04T15:44:50Z

mir_perception/mir_object_recognition/ros/launch/multimodal_object_recognition.launch

@@ -24,7 +24,7 @@
      <param name="pointcloud_source_frame_id" value="$(arg pointcloud_source_frame_id)" type="str" />
      <param name="debug_mode" value="$(arg debug_mode)" type="bool" />
      <param name="dataset_collection" value="true" />
-      <param name="logdir" value="/tmp/" />
+      <param name="logdir" value="/home/robocup/perception_debugs/" />


won't work on all PCs

sthoduka · 2024-03-04T15:46:27Z

mir_perception/mir_object_recognition/ros/scripts/rgb_object_recognizer_node

I think most of the perception changes have already been merged in #304

sthoduka · 2024-03-04T15:48:05Z

mir_perception/mir_ppt_detection/launch/ppt_detector.launch

@@ -20,8 +21,12 @@
            <remap from="~event_out" to="/mcr_perception/cavity_finder/output/event_out" />

            <param name="object_shape_learned_params_file" value="$(arg object_shape_learned_params_file)"/>
+            <!-- <param name="target_frame" type="string" value="base_link_static"/> -->
+            <!-- <param name="source_frame" type="string" value="fixed_camera_link"/> -->


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sthoduka · 2024-03-04T15:48:29Z

mir_perception/mir_ppt_detection/scripts/covariance_data/ppt_train_process_data

are these files supposed to be empty?

…x (OBB) and added README file

…ox and cavity model to segmentation masks for better detection

…atest msg

kvnptl and others added 30 commits February 17, 2023 16:19

[mir_hardware_config][youbot-brsu-2] update camera pose

b2841c3

[mir_manipulation] Changed predefined poses for platform and shelf

8c5970f

[mir_planing][mir_actions]Removed code dealing with heavy objects

930b187

[mir_planing][mir_knowledge]PDDL files for demo and BMT

b9e3d59

[mir_planing][mir_action]Changed SM for Shelf place

bd72589

[mir_planing] Commented out code for TTS Audio

3fdb36d

[mir_planing][mir_actions]Changed pipelines for pick and place

7fca0bf

[mir_planing]Enabled pick and place of three objects

81196dd

[mir_moveit_youbot_brsu_2] add shelf and intermediate stages

b7fd299

[mir_hardware_config] added 3 tower cameras and emergency button mounts

91d3343

[mir_bringup] added launch filesles

6ba3d58

for view_youbot and realsense dual camera

[mir_bringup] fixed dual camera launch

588e376

[mir_hardware_config] added side camera | orbbec astra

3279a48

[mir_ppt_detection] PPT initial working draft

28b5eb7

[mir_hardware_config] Added joints for realsense camera and its 3D pr…

74e0f24

…inted mount

[mir_hardware_config] Added 3D printed camera mounts STL files

13e93fe

[urdf] updated gripper urdf to correct the mount position

ec748f2

[mir_bringup] updated launch files to include 3 cameras

621e16b

[mir_bringup] added launch file to view youbot

7be6c78

Added logic for changing staging area based on object

3fea311

[pre_grasp_planner] add pose publisher

7f7b3ef

[mmor] added code to to handle containers

a717674

[mmor] change camera to camera front

3a02e88

[mir_manipulation] [mir_pregrasp_planning] minor fix | removed bool

3357578

[mir_gripper_controller] updated readme

9dd4508

[mir_planning]modified points for new object set and added platforms

16fa5d1

wip: arUco marker testing for unstaging objects

b5cb264

[mir_ppt_detection] Updated PPT code as per tower camera configuration

b844c3e

brsu_student and others added 6 commits July 9, 2023 09:33

[mir_states] disabled grasp verification for drill, allenkey and wrench

3c194cb

[mir_object_recognition] pass model names using rosparam in launch file

916c704

[mir_rtt_detection] code cleanup

6b0f3c5

[mir_rtt_detection] removed unnecessary files

c3d9dee

[mir_rtt_pick_object] code cleanup

3de35dd

[mmor] removed duplicate files

699196c

sthoduka reviewed Mar 4, 2024

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mir_perception/mir_ppt_detection/scripts/covariance_data/ppt_train_process_data Outdated

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are these files supposed to be empty?

Shubham2S and others added 15 commits April 5, 2024 16:54

[mir_rtt_detection] Changed perception model for oriented bounding bo…

c132c7e

…x (OBB) and added README file

small configuration changes

4f9f380

[mir_object_recognition] Changed objects model to Oriented Bounding B…

4831f4a

…ox and cavity model to segmentation masks for better detection

[MIR_EMPTY_SPACE_DETECTION] update params

a7785aa

[MIR_KNOWLEDGE] add finals pddl files for testing

e3fe197

[MIR_PLANNING_CORE] add finals2 pddl

0fa021c

[MIR_RTT_DETECTION] update object pose position

1e56786

updated camera filters and atwork comm client to be compatible with l…

dbea49f

…atest msg

GO24 - day 2 changes

6bf967e

GO24 - day 3 - pre ATT1

bd433cb

GO24 - pre ATT1 - grasp verification modified

057e721

GO24 - DAY 3 - post ATT1 - adjusting wrench pose

e636a92

GO24 - Day3 - End commit

b5ca84e

GO24 - Finals - Commit

e12db7f

[mir_place_object] add release gripper during object place

92b5c11

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Robocup2023 #325

Robocup2023 #325

vamsikalagaturu commented Jan 19, 2024

sthoduka Mar 4, 2024 •

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Robocup2023 #325

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Robocup2023 #325

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vamsikalagaturu commented Jan 19, 2024

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