ROS Wrapper for GPD

• Author's website
• License
• GPD library

Overview

A ROS wrapper around the GPD package for detecting 6-DOF grasp poses for a 2-finger robot hand (e.g., a parallel jaw gripper) in 3D point clouds.

1) Installation

The following instructions have been tested on Ubuntu 16.04. Similar instructions should work for other Linux distributions.

1. Install GPD. You can follow these instructions.

2. Clone this repository into the src folder of your catkin workspace:

   cd <location_of_your_workspace>/src
   git clone https://github.com/atenpas/gpd2_ros
   

3. Build your catkin workspace:

   cd <location_of_your_workspace>
   catkin_make
   

2) Generate Grasps for a Point Cloud on a ROS Topic

As C++ has issues with relative file paths, we first need to modify the config file in your gpd folder, e.g., <location_of_gpd>/cfg/ros_eigen_params.cfg. Search for parameters that have absolute file paths and change them according to your system.

Now, we can run GPD as a ROS node. The following command will launch a ROS node that waits for point clouds on the ROS topic /cloud_stitched. Once a point cloud is received, the node will search the cloud for grasps.

roslaunch gpd_ros ur5.launch