Script for sending targets to move it

Jailander commented 8 years ago

we need a simple python script to send a pose as a goal for moveit! the idea is to use this script as the base for the script that will send the targets based on circle detection

Jailander commented 8 years ago

http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/scripts/doc/move_group_python_interface_tutorial.html#planning-to-a-pose-goal

Jailander commented 8 years ago

also you want to subscribe to /whycon/poses

webbam46 commented 8 years ago

Done, see scripts in repository. Still need to test with /whycon/poses

marc-hanheide commented 8 years ago

I think we need the following abilities:

[ ] Have whycon running.
[ ] put the arm into search position (pointing straight ahead)
[ ] if target is further away (outside of arm range, let's just take a threshold for now), use move_base to go towards the target
[ ] if target is within range, give a MoveIt! goal, with a fixed transformation from the actual circle, e.g. 10cm below
[ ] if grasping position is reached, close gripper
[ ] define a goal position for the arm to put it onto the tray
[ ] implement simple joystick control to trigger the search and pickup action, and then another button to open the gripper again

marc-hanheide commented 8 years ago

@Jailander @webbam46 is this realistic?

LCAS / lincoln_youbot

Script for sending targets to move it #14