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A GraspIt! plugin exposing a ROS interface via graspit-ros

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graspit_interface

This plugin exposes a ROS interface for the GraspIt! simulator. Our main purpose for writing this plugin was to give GraspIt! more exposure to the ROS community and make it easier to get started planning grasps with GraspIt! You can interact with this interface through a variety of ROS services and action servers.

This repo is currently in active development, and we plan on exposing a majority of GraspIt!'s functionality to ROS, including all of GraspIt!'s planning capabilities. If you have any specific features you'd like us to work on, let us know by submitting a new issue. If you feel comfortable with GraspIt! and would like to help us get this done quicker, feel free to submit a pull request!

To see how a client interacts with this interface, check out our python graspit_commander.

If you've got your own implementation in another language, let us know and we'll link to it here!

Dependencies:

  • ros (ROS Indigio is our officially supported development flavor)
  • graspit and graspit-ros (Note: Check out how we set this up here

Setup:

###ROS: If you don't already have ROS set up, follow the tutorial here.

###Your workspace: We like to keep everything set up within a single ROS (catkin) workspace to keep things simple. If you're new to ROS or GraspIt!, it may be useful to set up your workspace in the same way so you can follow our tutorials more easily.

mkdir -p graspit_ros_ws/src
cd graspit_ros_ws/src

source /opt/ros/indigo/setup.bash
catkin_init_workspace . 

###GraspIt!:

git clone [email protected]:CURG/graspit_interface.git
git clone [email protected]:CURG/graspit_commander.git
git clone [email protected]:graspit-simulator/graspit-ros.git
cd graspit-ros
git submodule init
git submodule update

Note: You only need to clone graspit_commander if you want to use our python client

###Building From the root of your catkin workspace (above the src directory) run:

catkin_make

Note: you will need to source /opt/ros/indigo/setup.bash if you haven't already before running catkin_make

Run the interface!:

source devel/setup.bash
roslaunch graspit_interface graspit_interface.launch

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A GraspIt! plugin exposing a ROS interface via graspit-ros

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