This repository contains the implementation of the control module from the paper:
Sulabh Kumra, Shirin Joshi, Ferat Sahin
If you use this project in your research or wish to refer to the baseline results published in the paper, please use the following BibTeX entry:
@article{kumra2019antipodal,
title={Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network},
author={Kumra, Sulabh and Joshi, Shirin and Sahin, Ferat},
journal={arXiv preprint arXiv:1909.04810},
year={2019}
}
Download and Install the SDK dependencies
$ sudo apt-get install python-wstool python-rosdep
Create a new catkin workspace.
$ mkdir -p ~/ros_ws/src
$ cd ~/ros_ws/src
Download and copy the rosinstall file to the root of your Catkin workspace using wstool.
$ wstool init .
$ wstool merge https://raw.github.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
$ wstool update
$ cd ..
This pulls down the development branches from all of our repositories into your source directory.
For Baxter Gazebo simulation, checkout the baxter_simulator repository:
$ cd ~/ros_ws/src
$ git clone https://github.com/RethinkRobotics/baxter_simulator.git
Check out the Baxter PNP package into your ROS workspace
$ cd ~/ros_ws/src
$ git clone https://github.com/skumra/baxter-pnp.git
Source ros setup if you haven't yet
$ source /opt/ros/kinetic/setup.bash
Build and Install
$ cd ~/ros_ws
$ catkin_make
$ catkin_make install
Use the baxter.sh script for proper environment setup
$ cp src/baxter/baxter.sh .
Run the baxter.sh script with sim specified
$ cd ~/ros_ws
$ ./baxter.sh sim
Start simulation with controllers
$ roslaunch baxter_gazebo baxter_world.launch
Start pick and place
$ cd ~/ros_ws
$ source devel/setup.bash
$ rosrun baxter-pnp run_pnp.py
Run the baxter.sh
$ cd ~/ros_ws
$ ./baxter.sh
Start pick and place
$ cd ~/ros_ws
$ source devel/setup.bash
$ rosrun baxter-pnp run_pnp.py