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[Personalrobots-commit] SF.net SVN: personalrobots:[22266] pkg/trunk
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From: <mar...@us...> - 2009-08-19 06:41:52
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Revision: 22266
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22266&view=rev
Author: mariusmuja
Date: 2009-08-19 06:41:42 +0000 (Wed, 19 Aug 2009)
Log Message:
-----------
Moved tabletop code from recognitian_lambertian to a new package, tabletop_objects.
Modified Paths:
--------------
pkg/trunk/demos/tabletop_manipulation/tabletop_msgs/manifest.xml
pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/src/simple.cpp
pkg/trunk/sandbox/3dnav_pr2/manifest.xml
pkg/trunk/sandbox/point_cloud_tutorials/launch/table_model_fit.launch
pkg/trunk/sandbox/point_cloud_tutorials/launch/table_model_fitter.vcg
pkg/trunk/sandbox/point_cloud_tutorials/scripts/test_table_model_fitter.py
pkg/trunk/util/prosilica_capture_rectified/launch/prosilica_capture.launch
pkg/trunk/vision/recognition_lambertian/CMakeLists.txt
Added Paths:
-----------
pkg/trunk/demos/tabletop_manipulation/tabletop_msgs/msg/TableTopObject.msg
pkg/trunk/sandbox/tabletop_objects/
pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt
pkg/trunk/sandbox/tabletop_objects/Makefile
pkg/trunk/sandbox/tabletop_objects/data/
pkg/trunk/sandbox/tabletop_objects/data/template.png
pkg/trunk/sandbox/tabletop_objects/data/template2.png
pkg/trunk/sandbox/tabletop_objects/data/template3.png
pkg/trunk/sandbox/tabletop_objects/data/templates.txt
pkg/trunk/sandbox/tabletop_objects/include/
pkg/trunk/sandbox/tabletop_objects/include/ply.h
pkg/trunk/sandbox/tabletop_objects/launch/
pkg/trunk/sandbox/tabletop_objects/launch/model_fitter.launch
pkg/trunk/sandbox/tabletop_objects/launch/publish_objects.launch
pkg/trunk/sandbox/tabletop_objects/launch/tabletop_contours.launch
pkg/trunk/sandbox/tabletop_objects/mainpage.dox
pkg/trunk/sandbox/tabletop_objects/manifest.xml
pkg/trunk/sandbox/tabletop_objects/scripts/
pkg/trunk/sandbox/tabletop_objects/scripts/publish_stereo_data.py
pkg/trunk/sandbox/tabletop_objects/scripts/test_service
pkg/trunk/sandbox/tabletop_objects/src/
pkg/trunk/sandbox/tabletop_objects/src/convert_model.py
pkg/trunk/sandbox/tabletop_objects/src/model_fitter.cpp
pkg/trunk/sandbox/tabletop_objects/src/ply.c
pkg/trunk/sandbox/tabletop_objects/src/ply_import.py
pkg/trunk/sandbox/tabletop_objects/src/publish_scene.cpp
pkg/trunk/sandbox/tabletop_objects/src/tabletop_detector.cpp
pkg/trunk/sandbox/tabletop_objects/src/tabletop_objects/
pkg/trunk/sandbox/tabletop_objects/src/tabletop_objects/__init__.py
pkg/trunk/sandbox/tabletop_objects/src/voxel_grid.py
pkg/trunk/sandbox/tabletop_objects/srv/
pkg/trunk/sandbox/tabletop_objects/srv/FindObjectPoses.srv
pkg/trunk/sandbox/tabletop_objects/srv/ModelFit.srv
Removed Paths:
-------------
pkg/trunk/vision/recognition_lambertian/data/template.png
pkg/trunk/vision/recognition_lambertian/data/template2.png
pkg/trunk/vision/recognition_lambertian/data/template3.png
pkg/trunk/vision/recognition_lambertian/data/templates.txt
pkg/trunk/vision/recognition_lambertian/include/ply.h
pkg/trunk/vision/recognition_lambertian/launch/model_fitter.launch
pkg/trunk/vision/recognition_lambertian/launch/publish_objects.launch
pkg/trunk/vision/recognition_lambertian/launch/recognition.launch
pkg/trunk/vision/recognition_lambertian/launch/recognition_bag.launch
pkg/trunk/vision/recognition_lambertian/launch/recognition_camera.launch
pkg/trunk/vision/recognition_lambertian/launch/recognition_lambertian.launch
pkg/trunk/vision/recognition_lambertian/msg/TableTopObject.msg
pkg/trunk/vision/recognition_lambertian/scripts/publish_stereo_data.py
pkg/trunk/vision/recognition_lambertian/scripts/test_service
pkg/trunk/vision/recognition_lambertian/src/convert_model.py
pkg/trunk/vision/recognition_lambertian/src/model_fitter.cpp
pkg/trunk/vision/recognition_lambertian/src/ply.c
pkg/trunk/vision/recognition_lambertian/src/ply_import.py
pkg/trunk/vision/recognition_lambertian/src/publish_scene.cpp
pkg/trunk/vision/recognition_lambertian/src/recognition_lambertian/__init__.py
pkg/trunk/vision/recognition_lambertian/src/recognition_lambertian.cpp
pkg/trunk/vision/recognition_lambertian/src/voxel_grid.py
pkg/trunk/vision/recognition_lambertian/srv/FindObjectPoses.srv
pkg/trunk/vision/recognition_lambertian/srv/ModelFit.srv
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_msgs/manifest.xml
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_msgs/manifest.xml 2009-08-19 06:40:05 UTC (rev 22265)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_msgs/manifest.xml 2009-08-19 06:41:42 UTC (rev 22266)
@@ -11,6 +11,7 @@
<depend package="geometry_msgs" />
<depend package="std_msgs"/>
+ <depend package="mapping_msgs" />
<export>
<cpp cflags="-I${prefix}/msg/cpp"/>
Copied: pkg/trunk/demos/tabletop_manipulation/tabletop_msgs/msg/TableTopObject.msg (from rev 22265, pkg/trunk/vision/recognition_lambertian/msg/TableTopObject.msg)
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_msgs/msg/TableTopObject.msg (rev 0)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_msgs/msg/TableTopObject.msg 2009-08-19 06:41:42 UTC (rev 22266)
@@ -0,0 +1,3 @@
+geometry_msgs/PoseStamped grasp_pose
+geometry_msgs/PoseStamped object_pose
+mapping_msgs/Object object
Modified: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/src/simple.cpp
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/src/simple.cpp 2009-08-19 06:40:05 UTC (rev 22265)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/src/simple.cpp 2009-08-19 06:41:42 UTC (rev 22266)
@@ -46,7 +46,7 @@
#include <move_arm/ActuateGripperAction.h>
#include <boost/thread/thread.hpp>
-#include <recognition_lambertian/FindObjectPoses.h>
+#include <tabletop_objects/FindObjectPoses.h>
#include <visualization_msgs/Marker.h>
@@ -87,12 +87,12 @@
vmPub.publish(mk);
}
- bool findObject(recognition_lambertian::TableTopObject &obj)
+ bool findObject(tabletop_msgs::TableTopObject &obj)
{
- recognition_lambertian::FindObjectPoses::Request req;
- recognition_lambertian::FindObjectPoses::Response res;
+ tabletop_objects::FindObjectPoses::Request req;
+ tabletop_objects::FindObjectPoses::Response res;
- ros::ServiceClient client = nh.serviceClient<recognition_lambertian::FindObjectPoses>("table_top/find_object_poses");
+ ros::ServiceClient client = nh.serviceClient<tabletop_objects::FindObjectPoses>("table_top/find_object_poses");
if (client.call(req, res))
{
ROS_INFO("Found %d objects", (int)res.objects.size());
@@ -150,7 +150,7 @@
}
}
- bool moveTo(recognition_lambertian::TableTopObject &obj)
+ bool moveTo(tabletop_msgs::TableTopObject &obj)
{
move_arm::MoveArmGoal goal;
@@ -239,7 +239,7 @@
}
}
- bool graspObject(recognition_lambertian::TableTopObject &obj)
+ bool graspObject(tabletop_msgs::TableTopObject &obj)
{
if (gripClose())
{
@@ -303,7 +303,7 @@
CleanTable ct;
- recognition_lambertian::TableTopObject obj;
+ tabletop_msgs::TableTopObject obj;
if (ct.findObject(obj))
{
@@ -311,7 +311,7 @@
if (ct.moveTo(obj))
{
ct.graspObject(obj);
- recognition_lambertian::TableTopObject obj2 = obj;
+ tabletop_msgs::TableTopObject obj2 = obj;
obj2.grasp_pose.pose.position.y -= 0.25;
if (ct.moveTo(obj2))
{
Modified: pkg/trunk/sandbox/3dnav_pr2/manifest.xml
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/manifest.xml 2009-08-19 06:40:05 UTC (rev 22265)
+++ pkg/trunk/sandbox/3dnav_pr2/manifest.xml 2009-08-19 06:41:42 UTC (rev 22266)
@@ -34,7 +34,7 @@
<!-- object recognition -->
<depend package="table_object_detector"/>
- <depend package="recognition_lambertian" />
+ <depend package="tabletop_objects" />
<!-- planning -->
Modified: pkg/trunk/sandbox/point_cloud_tutorials/launch/table_model_fit.launch
===================================================================
--- pkg/trunk/sandbox/point_cloud_tutorials/launch/table_model_fit.launch 2009-08-19 06:40:05 UTC (rev 22265)
+++ pkg/trunk/sandbox/point_cloud_tutorials/launch/table_model_fit.launch 2009-08-19 06:41:42 UTC (rev 22266)
@@ -1,6 +1,6 @@
<launch>
- <include file="$(find recognition_lambertian)/launch/model_fitter.launch" />
+ <include file="$(find tabletop_objects)/launch/model_fitter.launch" />
<node pkg="point_cloud_tutorials" type="test_table_model_fitter.py" respawn="true" output="screen" />
<node pkg="rviz" type="rviz" args="-d $(find point_cloud_tutorials)/launch/table_model_fitter.vcg" />
Modified: pkg/trunk/sandbox/point_cloud_tutorials/launch/table_model_fitter.vcg
===================================================================
--- pkg/trunk/sandbox/point_cloud_tutorials/launch/table_model_fitter.vcg 2009-08-19 06:40:05 UTC (rev 22265)
+++ pkg/trunk/sandbox/point_cloud_tutorials/launch/table_model_fitter.vcg 2009-08-19 06:41:42 UTC (rev 22266)
@@ -51,7 +51,7 @@
Point\ Cloud2.Min\ Intensity=39
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=1
-Point\ Cloud2.Topic=/recognition_lambertian/objects
+Point\ Cloud2.Topic=/tabletop_objects/objects
TF2.All\ Enabled=1
TF2.Enabled=0
TF2.Show\ Arrows=1
Modified: pkg/trunk/sandbox/point_cloud_tutorials/scripts/test_table_model_fitter.py
===================================================================
--- pkg/trunk/sandbox/point_cloud_tutorials/scripts/test_table_model_fitter.py 2009-08-19 06:40:05 UTC (rev 22265)
+++ pkg/trunk/sandbox/point_cloud_tutorials/scripts/test_table_model_fitter.py 2009-08-19 06:41:42 UTC (rev 22266)
@@ -36,7 +36,7 @@
## Simple demo of a rospy service client that calls a service to add
## two integers.
-PKG = 'recognition_lambertian' # this package name
+PKG = 'tabletop_objects' # this package name
import roslib; roslib.load_manifest(PKG)
@@ -47,7 +47,7 @@
import rospy
# imports the AddTwoInts service
-from recognition_lambertian.srv import *
+from tabletop_objects.srv import *
def call_service():
Copied: pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt (from rev 22265, pkg/trunk/vision/recognition_lambertian/CMakeLists.txt)
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt (rev 0)
+++ pkg/trunk/sandbox/tabletop_objects/CMakeLists.txt 2009-08-19 06:41:42 UTC (rev 22266)
@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 2.4.6)
+
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+set(ROS_BUILD_TYPE Debug)
+
+rosbuild_init()
+rosbuild_add_boost_directories()
+
+rosbuild_genmsg()
+rosbuild_gensrv()
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+
+
+add_custom_command(
+ OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/build/Ikea_meshes.tar.gz
+ COMMAND wget
+ ARGS pr.willowgarage.com/downloads/Ikea_meshes.tar.gz
+ DEPENDS )
+
+#un tar Ikea mesh files
+add_custom_command(
+ OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/meshes
+ COMMAND mkdir -p
+ ARGS ${CMAKE_CURRENT_SOURCE_DIR}/meshes
+ COMMAND tar
+ ARGS -xvzf ${CMAKE_CURRENT_SOURCE_DIR}/build/Ikea_meshes.tar.gz -C ${CMAKE_CURRENT_SOURCE_DIR}/meshes
+ DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/build/Ikea_meshes.tar.gz)
+
+add_custom_target(media_files ALL DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/meshes)
+
+
+rosbuild_add_executable(tabletop_detector src/tabletop_detector.cpp)
+rosbuild_add_executable(model_fitter src/model_fitter.cpp src/ply.c)
+rosbuild_link_boost(model_fitter filesystem)
Added: pkg/trunk/sandbox/tabletop_objects/Makefile
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/Makefile (rev 0)
+++ pkg/trunk/sandbox/tabletop_objects/Makefile 2009-08-19 06:41:42 UTC (rev 22266)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
Copied: pkg/trunk/sandbox/tabletop_objects/data/template.png (from rev 22265, pkg/trunk/vision/recognition_lambertian/data/template.png)
===================================================================
--- pkg/trunk/sandbox/tabletop_objects/data/template.png (rev 0)
+++ pkg/trunk/sandbox/tabletop_objects/data/template.png 2009-08-19 06:41:42 UTC (rev 22266)
@@ -0,0 +1,8 @@
+\x89PNG
+
+ |
