Baxter Pick and Place

This repository contains the implementation of the control module from the paper:

Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network

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}
}

Prerequisites

A developer workstation meeting the minimum system requirements is available for use.
The developer workstation has been set up successfully with Ubuntu and ROS - instructions here.
You have configured your Development Workstation to access Github. Instructions here.
A grasp generator. Our implementation of the GR-ConvNet based grasp generator is available at: https://github.com/skumra/robotic-grasping

Installation

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 PNP in Simulation

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 PNP on Robot

Run the baxter.sh
```
$ cd ~/ros_ws
$ ./baxter.sh
```