Unit 6: Project. basic_grasping_perception node not working properly

Course Support ROS Manipulation In 5 Days
1

Hello, I am working on Unit 6: Project in the last part, grasping. As shown in Unit 5: Grasping, I created two files:
rb1_basic_perception_dbg.launch:

<launch>

  <!-- Start Perception -->
  <node name="basic_grasping_perception" pkg="simple_grasping" type="basic_grasping_perception" >
    <rosparam command="load" file="$(find simple_grasping)/config/rb1_simple_grasping.yaml" />
  </node>

</launch>

and rb1_simple_grasping.yaml:

# yaml file for package simple_grasping with rosnode "basic_grasping_perception"

############################################################################

gripper:

  tool_to_planning_frame: 0.082 #0.180    # should be 0.165 after fix the simple_grasping

  # finger tips are 195mm from wrist_roll_link, fingers are 60mm deep

  finger_depth: 0.103 #0.020

  gripper_tolerance: 0.05

  approach:

    min: 0.145

    desired: 0.15

  retreat:

    min: 0.145

    desired: 0.15

use_debug: True

When running the launch file and rb1_planning_execution.launch, and adding in RVIZ 2 point clouds to check the object and support clouds, nothing is shown, even when the OctoMap for both the table and cube are visible. Also in the corresponding topics /basic_grasping_perception/object_cloud and /basic_grasping_perception/support_cloud nothing is being published. This is my simulation set-up:

image
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a) Could you help me to figure out what is wrong in my node set-up?
b) I just estimated the dimensions for the gripper from a technical drawing. Could you provide the parameters of the gripper to correctly set the yaml file?

Thank you in advance

2

Hi Humberto,

Which course and unit is this? And which exercise are you trying to solve?

You have posted this in ROS Basics in 5 Days, but it does not seem to be related to this course.

3

Sorry, it was a mistake. I just changed it to the ROS Manipulation in 5 days course

4

Hello @Humberto ,

We are working on modifying some things in this project in order to make it more accessible to students. I suggest you move on to other courses in the meantime. I’ll let you know once we have updated it.

1 Like
5

Ok, I will. Is the project required to get a certificate for this course? Or is a certificate for this course not available?
Thank you

6

No, this project is not required for the certificate. Instead, you need to do the Real Robot Project.

Please see:

  1. Course details.
  2. How to get a certificate.