CoSTAR Tools

This section includes the code to manage the MoveIt collision detection and a few other utilities that provide useful services for creating powerful robot programs.

MoveIt collision detection: creates a PlanningScene based on detected objects, plus adds a table.

Run with:

roslaunch moveit_collision_environment colision_env.launch mesh_source:=$(find moveit_collision_environment)/data/mesh tableTFname:=ar_marker_2 defineParent:=true parentFrameName:=/world

Recording point clouds: this is used to collect data and scan objects. Run with:

rosrun point_cloud_recorder point_cloud_recorder.py _id:=$OBJECT_NAME _camera:=$CAMERA_ID

This will expose the /record_camera rosservice which can be called from a UI node. Files will be created wherever you ran the point cloud recorder.

Roslaunch would look something like:

<node name="point_cloud_recorder" pkg="point_cloud_recorder" type="point_cloud_recorder.py">
  <param name="id" value="NameOfMyObject"/>
  <param name="camera" value="kinect2"/>
</node>

Data Collection Instructions

1. open Terminal
2. roscore
3. ‘For setting up all sensor component’ roslaunch costar_bringup ur5_c_model.launch
4. ‘For starting up the UI to control the robot’ roslaunch instructor_core instructor.launch
5. ‘For vizualization run’ roslaunch costar_bringup rviz.launch
6. ‘For data collection’ roslaunch object_on_table_segmenter object_on_table_segmenter.launch

Setting up parameters (For example for setting up package object_on_table_segmenter parameter):

1. Check the list of parameter from the .launch file by:
   1. roscd
   2. cd launch
   3. check parameter list for the package in .launch file
2. Do: “roslaunch <name of .launch file> :='type from the param' "