b-it-bots / mas_industrial_robotics

MAS Industrial Robotics
https://b-it-bots.readthedocs.io
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[Manipulation] Run pick state machine in simulation #143

Open deebuls opened 4 years ago

deebuls commented 4 years ago

Is your feature request related to a problem? Please describe. Run pick_object_server in simulation to pick an object

sthoduka commented 4 years ago

Currently it is not possible to run the pick_object_server SM without having perceived the workstation, since the object_selector is triggered from the pick server. The options are:

  1. Get perceive_location action running in simulation
  2. Temporarily create a mockup perceive_location action, which will get the objects' positions from gazebo.

I haven't looked into the first option (which we should eventually do), but the second option is easy to do with the following services:

DharminB commented 4 years ago

Screenshot_from_2020-05-29_11:54:20

We need to use a better realsense camera plugin for perception in sim. Maybe as @sthoduka suggested https://github.com/pal-robotics/realsense_gazebo_plugin might be good.

deebuls commented 4 years ago

Pending things:

[ ] MoveIT needs to be fixed