Automated grasp execution

In the last couple of weeks I have used most of the other packages I developed in this project and put them together to execute a grasp automatically: An object can be spawned at a random position close to the arm in Gazebo, the motion plan will be computed accordingly, and the robot reaches to and grasps the object using my ROS services and actions.

The tutorial for this is still under construction and will be finished in the next few days, including an insight into the source code required to make this example work, and showing that not much code is necessary to achieve the automated grasp when using the ROS services/actions in my repositories.

I have also improved the Gazebo grasp plugin, addressing this issue which was reported on my github.

Another thing I’ve been working on is getting the packages added as ROS package on ros.org. The GraspIt! packages have now been added as graspit_tools. The other packages are still to be changed frequently in the next few weeks, so I decided against adding them right away to ROS, in order to avoid re-releasing updates at a high rate. All other repositories of this project will be added in the next few weeks.

Migrated packages and started grasp execution

I have started working towards adding my packages to ros.org. For this, the sources and documentation have been re-packaged into new repositories (along with their own wikis):

My GraspIt! fork now compiles into a library in graspit-pkgs. No headers or libraries of the original GraspIt! source are installed. This was done in the process of preparing for ROS packages, because the original GraspIt! code is not in the ROS builds / ubuntu packages yet.

I have also started working on the grasp execution, with the first tutorials being available in grasp-execution-pkgs.