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baxter-pnp's Introduction

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

arxiv | video

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
  • Start pick and place
$ cd ~/ros_ws
$ source devel/setup.bash
$ rosrun baxter-pnp run_pnp.py

baxter-pnp's People

Contributors

shirinj avatar skumra avatar

Stargazers

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