Amazon Challenge Motion package

BT nodes for executing motion plans on the PR2 for the Amazon Challenge.

Arm position server

BT node that initializes the arm position depending on the bin we will grasp from

#!python

roslaunch amazon_challenge_motion arm_position_server.launch

Launching MoveIt with shelf in planning scene

#!python

roslaunch amazon_challenge_motion moveit.launch

PR2 MoveIt simulation

#!python

roslaunch amazon_challenge_motion shelf_planning_scene_sim.launch

Launching nodes for initial shelf calibration

#!python

roslaunch amazon_challenge_motion shelf_calibration.launch

Saving joint position waypoints

Make sure you have downloaded Francisco's branch of the moveit_commander package (it is also in the .rosinstall file of the amazon_challenge_install package.

#!python
roscd amazon_challenge_motion/config/moveit_commander
rosrun moveit_commander moveit_commander_cmdline.py

This will bring up an interactive command line

You can then load the waypoints file in amazon_challenge_motion/config/moveit_commander

#!python
load waypoints

Then select e.g. the left_arm group, record different joint positions in variables bin_A, bin_B and bin_C and save all these poses to a text file:

#!python

use left_arm
go row_3
use torso
go row_3

Then you can e.g. the arm and record an arm position and save all the waypoints to a text file waypoints2:

#!python

use left_arm
record camera_row_3
save waypoints2

You can also use several different groups, such as the right_arm, torso, etc.

Then you can copy-paste the joint poses to the .yaml files in the ./config folder of this package.

Loading/reading pose dictionaries in Python

Use the ROS parameter server and the python interface.

The dictionaries are in the ./config/ folder. You can load them via roslaunch files (see for example launch/arm_position_server.launch) or via the command line (make sure you have a running ROS core):

#!python

rosparam load left_arm_joint_pose_dict.yaml

Then read the dictionary in python like this:

#!python
import rospy
...
left_arm_joint_pos_dict = rospy.get_param('/left_arm_joint_pos_dict')

q = left_arm_joint_pos_dict['start']
q2 = left_arm_joint_pos_dict['bin_A_start']