[WIP] [pr2eus_tutorials] Select grasp position via 2D image

[708yamaguchi]

Closes https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/436

In this pull request, I did

• reuse pr2_tabletop.launch in pr2_tabletop_grasp.launch to simplify codes
• add gazebo mode in pr2_tabletop_grasp.launch
• enable to select grasp position via 2D image using image_view2 and PointcloudScreenpoint
• update usage of these new features in README

[WIP] This pull request needs to be verified on real PR2 robot.

Here is sample implementation of this program: https://drive.google.com/file/d/1JbG7HTPiQ2x-l756z9GTLHitZslFYvxe/view?usp=sharing

[knorth55]

first of all, have you tried current implementation of gazebo version?

[708yamaguchi]

Thank you for your advice.

I updated this pull request based on your advice (https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/436 and https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/437 ).

Also, I confirmed that both of Rviz click demo and image_view2 click demo can be executed on gazebo simulation.

[k-okada]

great! can you update visualizatoin 1) when use click the image_view, add circle at that position (for a few seconds, if possible) 2) visualize ray line and target 3D point, ex) https://jsk-recognition.readthedocs.io/en/latest/jsk_pcl_ros/nodes/pointcloud_screenpoint.html

-- ◉ Kei Okada

2020年5月13日(水) 7:43 Naoya Yamaguchi notifications@github.com:

Thank you for your advice.

I updated this pull request based on your advice (#436 https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/436 and #437 https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/437 ).

Also, I confirmed that both of Rviz click demo and image_view2 click demo can be executed on gazebo simulation.

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[708yamaguchi]

1) when use click the image_view, add circle at that position (for a few seconds, if possible) 2) visualize ray line and target 3D point,

I pushed additional commits.

When we click image_view2 window,

• green circle is shown for 5 seconds around the clicked pixel
• 3d ray to the target object is shown in Rviz for 5 seconds (for both image_view2 version and Rviz InteractiveMarkers version)

For the second feature, I try to reuse https://github.com/jsk-ros-pkg/jsk_recognition/blob/master/jsk_pcl_ros/euslisp/pointcloud_screenpoint.l However, this script assumes the service version of PointcloudScreenpoint (I use the topic version in this pull request) Also, some functions are automatically executed when we load this script. Therefore, I gave up reusing this script and left a comment.

;; Mainly copied from https://github.com/jsk-ros-pkg/jsk_recognition/blob/master/jsk_pcl_ros/euslisp/pointcloud_screenpoint.l
(defun show-marker (frame p1)

Sample

[k-okada]

great work!