Launch files #19
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Launch files #19
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* pr2_hydro.launch is from /etc/ros/hydro/robot.launch, modified to point to robot_hydro.launch * robot_hydro.launch is from /opt/ros/hydro/share/pr2_bringup/pr2.launch, modified to: * remove arm & head cameras * start up the head-mount kinect * remove the EKF, replace with static_transform_publisher from odom_combined -> base_footprint (to avoid the tiny angular offsets in pose)
…le any combination of our pick & place pipeline's options
* clear_table_unified.launch can now switch between ORK/Grabcut object segmentation, based on command-line argument * this required combining clear_table_moveit.py and clear_table_moveit_ork.py * assumes that robot.launch, rviz, move_group, and ork_core are launched separately
…added yesterday when I made pose/dims optional)
…pdate at once. I'm not sure it's an improvement...
…file now launches rosbridge
ghost
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| @@ -29,8 +30,7 @@ def __init__(self): | |||
| #self.sensors = SensorHandler() | |||
| self.scene = SceneHandler() | |||
| self.orkClient = actionlib.SimpleActionClient('ork_tabletop', TabletopAction) | |||
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So I am wondering if I should not rather implement ORK stuff inside the SensorHandler class to have one consistent interface to all segmentation algorithms? The same as below for grabcut.
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Created an issue, see #22
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These are the changes to the clear_table state machine and the launch files that allow us to use the same launch file for the fully-autonomous demo and the grabcut demo, just changing one command line argument.