Pickup experiment with GPD

Description

ROS package for implementing the grasping algorithms GPD (Grasp Pose Detection) on Kinova Gen3 7DOF.

All works were done on Ubuntu 20.04 with ROS Noetic.

Required ROS packages for the Gen3:

Software and version

ros_kortex: any
ros_kortex_vision: any
gpd_ros: 2.0.0
opencv: 4.2.0
PCL: 1.10

Actions for grasping task

motionPlanning
- getCurrentState
- moveToJointConfig
  - rotateSingleJoint
  - moveToInitial
- moveToCartesianPose
  - moveToPreGraspPose
  - moveToGraspPose
  - moveToPostGraspPose
- gripperCommand
  - openGripper
  - closeGripper
  - openToGripperPosition
perception
- camera
  - takeSnapshot
- pcl
  - passThroughFilter
  - planarSegmentation
  - voxelGrid
  - concatenatePointCloud
GraspPose
- generateGraspPose

Note:

When ticking moveToJointConfig and moveToCartesianPose, both actions callback getCurrentState to obtain current joint configuration (joint angles for each joint, i.e., $q_1$,...,$q_7$) and current Cartesian pose (position and orientation, i.e., x, y, z, $\theta_x$, $\theta_y$, $\theta_z$, of the end-effector).

TODO

determine parameters ports, both in and out, for each action.

Task sequence (workflow) for a single grasping task

openGripper
moveToInitial
takeSnapShot
passThroughFilter
planarSegmentation
voxelGrid
generateGraspPose
moveToPreGraspPose
moveToGraspPose
closeGripper
moveToPreGraspPose
moveToPostGraspPose