start-jsk/jsk_apc

Name: jsk_apc

Owner: start-jsk

Description: null

Created: 2014-10-23 05:28:31.0

Updated: 2018-01-18 15:02:17.0

Pushed: 2018-01-20 17:07:20.0

Homepage: null

Size: 414857

Language: Common Lisp

GitHub Committers

User	Most Recent Commit	# Commits

Other Committers

User	Email	Most Recent Commit	# Commits

README

jsk_apc

jsk_apc is a stack of ROS packages for Amazon Picking Challenge mainly developed by JSK lab.
The documentation is available at here.

Build Status

| Package | Indigo (Trusty) | |:—————-|:—————————————————————————————————————————————————————————————–| | jsk_apc (i386) | | | jsk_apc (amd64) | |

Usage

| Competition | Documentation | |:————|:———————————————————————————————————-| | APC2015 | See jsk_2015_05_baxter_apc. | | APC2016 | See jsk_2016_01_baxter_apc. | | ARC2017 | See jsk_arc2017_baxter. |

Citations

r system at APC2015
icle{wada2017pick,
tle={Pick-and-verify: verification-based highly reliable picking system for various target objects in clutter},
thor={Wada, Kentaro and Sugiura, Makoto and Yanokura, Iori and Inagaki, Yuto and Okada, Kei and Inaba, Masayuki},
urnal={Advanced Robotics},
lume={31},
mber={6},
ges={311--321},
ar={2017},
blisher={Taylor \& Francis}

Installation

Required

1. Install the ROS. Instructions for ROS indigo on Ubuntu 14.04.
2. Setup your ROS environment.
3. Build catkin workspace for jsk_apc:

dir -p ~/ros/ws_jsk_apc/src && cd ~/ros/ws_jsk_apc/src
tool init . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/fc.rosinstall
 ..
sdep install -y -r --from-paths .
do apt-get install python-catkin-tools ros-indigo-jsk-tools
tkin build
urce devel/setup.bash

• Edit /etc/hosts:

11.216.224 baxter 011310P0014.local

• Add below in your ~/.bashrc:

  ssetmaster baxter.jsk.imi.i.u-tokyo.ac.jp
  ssetip
  

$ # we recommend below setup (see http://jsk-docs.readthedocs.org/en/latest/jsk_common/doc/jsk_tools/cltools/setup_env_for_ros.html) $ echo ““” rossetip rosdefault ““” » ~/.bashrc $ rossetdefault baxter # set ROS_MASTER_URI as http://baxter:11311

Optional

tup Arduino and DXHUB**

te udev rules:

$ rosrun jsk_arc2017_baxter create_udev_rules

hat Arduinos can appear on `/dev/arduino*` and DXHUB can appear on `/dev/r_dxhub`

tup scales**

te udev rules:

$ rosrun jsk_arc2017_common create_udev_rules

hat scales can appear on `/dev/scale*`

tup SSH**

e below in `~/.ssh/config`:

Host baxter HostName baxter.jsk.imi.i.u-tokyo.ac.jp User ruser # password: rethink