A truly autonomous robotics solution for table orgainizing.
This is a class project in Humanoid Robots 2018, instructed by Professor Peter Allen, Columbia University.
| Package | Description |
|---|---|
| roganized_gazebo | The Gazebo simulation environment |
| roganized_rl | Training data generation and RL integration |
| roganized_grasping | Grasping and trajectory planning pipelines |
| Project | Implementation of deep learning algorihtms |
Before installing the toolchain, make sure you have a proper github ssh key. If not, please follow this guide before moving forward.
$ wget https://raw.githubusercontent.com/CU-Humanoid2018Spring/ROganized/master/install.sh
$ bash install.sh
$ echo "source ~/roganized_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
After installation, please run the below commands to verify.
$ roslaunch roganized_gazebo simple_grasp.launch
# Open another terminal
$ rostopic list | grep camera
If you see the following, then you are all set.
/camera/depth_registered/camera_info
/camera/depth_registered/image_raw
/camera/depth_registered/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/head_camera/crop_decimate/parameter_descriptions
/head_camera/crop_decimate/parameter_updates
/head_camera/depth_downsample/camera_info
/head_camera/depth_downsample/image_raw
/head_camera/depth_downsample/points
/head_camera/depth_registered/camera_info
/head_camera/depth_registered/image_raw
/head_camera/depth_registered/points
/head_camera/head_camera_nodelet_manager/bond
/head_camera/parameter_descriptions
/head_camera/parameter_updates
/head_camera/rgb/camera_info
/head_camera/rgb/image_raw
Or you may see the following. That means Gazebo is not publishing images.
/head_camera/crop_decimate/parameter_descriptions
/head_camera/crop_decimate/parameter_updates
/head_camera/depth_downsample/camera_info
/head_camera/depth_downsample/image_raw
/head_camera/depth_downsample/points
/head_camera/head_camera_nodelet_manager/bond