Any way to acquire groovy-devel binaries?

[mbforbes]

Hello Matei, sorry to bother you again!

I'm hoping to use this stack for automated grasping, and I see the pr2_pick_and_place_demos is in the groovy-devel branch.

Regrettably, apt-get installs only the groovy version, which doesn't contain the demo. I've built my own demo package with the code, but it depends on pr2_gripper_reactive_approach, which is only in groovy-devel. And per the last thread, it doesn't seem possible build the code.

Do you have binaries available for groovy-devel? I'm on Ubuntu 12.04.

Many thanks for any help,
Max

[KaijenHsiao]

pr2_pick_and_place_demos and pr2_gripper_reactive_approach are both entirely Python scripts. You don't need to build them.

[mbforbes]

Hi Kaijen,

Thanks for the reply, and I'm sorry for my delay in trying this out.

I downloaded these two packages and put them in my groovy stacks. Just trying to figure out the right way to run now!

On the PR2, I'm doing

$ roslaunch pr2_interactive_manipulation pr2_interactive_manipulation_robot.launch

On the desktop, I'm doing

$ roslaunch pr2_interactive_manipulation_frontend pr2_interactive_manipulation_desktop.launch 

Then, on the desktop, I went to the demo script (in groovy stacks) and ran run_pick_and_place_demo.py. I got the following output

$./run_pick_and_place_demo.py 
[INFO] [WallTime: 1401472018.843624] grasp_executive: waiting for object_manipulator_pickup action
[INFO] [WallTime: 1401472018.985045] grasp_executive: object_manipulator_pickup action found
[INFO] [WallTime: 1401472019.038522] grasp_executive: waiting for object_manipulator_place action
[INFO] [WallTime: 1401472019.271600] grasp_executive: object_manipulator_place action found
[INFO] [WallTime: 1401472019.383167] grasp_executive: waiting for point_head_action client
[INFO] [WallTime: 1401472019.625536] grasp_executive: point_head_action client found
[INFO] [WallTime: 1401472019.625737] grasp_executive: waiting for right reactive place client

I figured it must be waiting for the reactive_grasp_server, so I went to the scripts (pointing my ROS master to the PR2) and ran

$./reactive_grasp_server.py 
No handlers could be found for logger "rosout"

I figure it's me missing several key pieces of ROS knowledge on how to update stacks and get things to run, but could you offer a quick tip of how to run this demo?

Sorry to bother you, and many thanks for any help,
Max

[mateiciocarlie]

By default, pr2_interactive_manipulation does not start the reactive grasp server (follow the reactive_grasping argument through the launch files). The pick and place script though seems to be looking for it. Not sure this is what is causing your error, but seems like a possibility.

[mateiciocarlie]

By default, pr2_interactive_manipulation does not start the reactive grasp server (follow the reactive_grasping argument through the launch files). The pick and place script though seems to be looking for it. Not sure this is what is causing your error, but seems like a possibility.

[mateiciocarlie]

By default, pr2_interactive_manipulation does not start the reactive grasp server (follow the reactive_grasping argument through the launch files). The pick and place script though seems to be looking for it. Not sure this is what is causing your error, but seems like a possibility.

[KaijenHsiao]

Sorry for the terribly slow reply! If you're trying to run the pick and place demo specifically, this is the wiki page you're looking for:
http://wiki.ros.org/pr2_pick_and_place_demos/Tutorials/The%20Pick%20and%20Place%20Autonomous%20Demo