Only released in EOL distros:
srs_public: cob_spacenav_teleop | srs_arm_navigation_tests | srs_assisted_arm_navigation | srs_assisted_arm_navigation_msgs | srs_assisted_arm_navigation_ui | srs_assisted_detection | srs_assisted_grasping | srs_assisted_grasping_msgs | srs_assisted_grasping_ui | srs_body_detector | srs_decision_making | srs_decision_making_interface | srs_env_model | srs_env_model_msgs | srs_env_model_percp | srs_env_model_ui | srs_env_model_utils | srs_environments | srs_grasping | srs_human_sensing | srs_interaction_primitives | srs_knowledge | srs_leg_detector | srs_likelihood_calculation | srs_msgs | srs_object_verification | srs_pellet | srs_people_tracking_filter | srs_scenarios | srs_states | srs_symbolic_grounding | srs_training | srs_ui_but | srs_user_tests
Package Summary
Documented
srs_scenarios
- Author: Renxi Qiu
- License: BSD
- Source: git https://github.com/ipa320/srs_public.git (branch: master)
srs_public: cob_spacenav_teleop | srs_arm_navigation_tests | srs_assisted_arm_navigation | srs_assisted_arm_navigation_msgs | srs_assisted_arm_navigation_ui | srs_assisted_detection | srs_assisted_grasping | srs_assisted_grasping_msgs | srs_assisted_grasping_ui | srs_body_detector | srs_decision_making | srs_decision_making_interface | srs_env_model | srs_env_model_msgs | srs_env_model_percp | srs_env_model_ui | srs_env_model_utils | srs_environments | srs_grasping | srs_human_sensing | srs_interaction_primitives | srs_knowledge | srs_leg_detector | srs_likelihood_calculation | srs_msgs | srs_object_verification | srs_pellet | srs_people_tracking_filter | srs_scenarios | srs_states | srs_symbolic_grounding | srs_training | srs_ui_but | srs_user_tests
Package Summary
Documented
srs_scenarios
- Author: Renxi Qiu
- License: BSD
- Source: git https://github.com/ipa320/srs_public.git (branch: master)
srs_public: cob_spacenav_teleop | srs_arm_navigation_tests | srs_assisted_arm_navigation | srs_assisted_arm_navigation_msgs | srs_assisted_arm_navigation_ui | srs_assisted_detection | srs_assisted_grasping | srs_assisted_grasping_msgs | srs_assisted_grasping_ui | srs_body_detector | srs_decision_making | srs_decision_making_interface | srs_env_model | srs_env_model_msgs | srs_env_model_percp | srs_env_model_ui | srs_env_model_utils | srs_environments | srs_grasping | srs_human_sensing | srs_interaction_primitives | srs_knowledge | srs_leg_detector | srs_likelihood_calculation | srs_msgs | srs_object_verification | srs_pellet | srs_people_tracking_filter | srs_scenarios | srs_states | srs_symbolic_grounding | srs_training | srs_ui_but | srs_user_tests
Package Summary
Documented
srs_scenarios
- Author: Renxi Qiu
- License: BSD
- Source: git https://github.com/ipa320/srs_public.git (branch: master)
Contents
Scenario
srs_scenarios
Testing SRS interface and interactions under with command consoles.- robot stands at zero position
- robot search in room for milkbox based on common knowledge from semantic DB
- robot perceive object information based on environment perception and object detection
- robot adjust position autonomously based on decision making and symbolic grounding
- robot grasp the object and transfer the object to the tray
- robot brings milkbox to the sofa in the IPA kitchen
Usage/Examples
This section shows how to start the simulation with all related services.
- For simplify the debugging process, srs scenario in the simulation can be started with one of the following options:
roslaunch srs_scenarios srs_scenario_sim.launch
This scenario use slightly modified generic states from cob_scenarios. Ps, Robot will not grasp object immediately after detection. It is a simple scenario for most of users.
roslaunch srs_scenarios srs_scenario_planned_grasp.launch
This scenario use planned arm movement (IPA) and srs_grasp (ROB). It has been used in the Milan test.
roslaunch srs_scenarios srs_scenario_assisted_grasp.launch
This scenario use srs_assisted_arm_navigation developed by BUT for assisted arm movement
roslaunch srs_scenarios srs_scenario_assisted_detection.launch
This scenario use enable a interactive process of srs_assisted_detection for object detection.
- Add a milk bottle in the simulation on either kitchen or table
roslaunch srs_scenarios milk_kitchen.launch or roslaunch srs_scenarios milk_table.launch
- Start a testing client (The testing client would simulate the input from an interface device)
rosrun srs_decision_making test_client_json.py
start the getting milk processrosrun srs_decision_making test_client_pause.py
Pause the operationrosrun srs_decision_making test_client_resume.py
Resume the operationrosrun srs_decision_making test_client_stop.py
Stop the operation - Additional client for assisted detection These commands are only for testing purposes, they should be replaced by the commands sent from the UIs
rosrun srs_assisted_detection fake_detection_user.py
Trigger an assisted detectionrosrun srs_assisted_detection fake_action_user.py
Confirm a selected objectsrs_assisted_detection fake_bb_user.py
Specify a new bounding box The service below is required for the bounding box related movesrosrun srs_symbolic_grounding scan_base_pose_server.py
