jsk_apc is a stack of ROS packages for Amazon Picking Challenge mainly developed by JSK lab.
The documentation is available at here.
| Package | Indigo (Trusty) |
|---|---|
| jsk_apc (i386) | |
| jsk_apc (amd64) |
| Competition | Documentation |
|---|---|
| APC2015 | See jsk_2015_05_baxter_apc. |
| APC2016 | See jsk_2016_01_baxter_apc. |
| ARC2017 | See jsk_arc2017_baxter. |
# Our system at APC2015
@article{wada2017pick,
title={Pick-and-verify: verification-based highly reliable picking system for various target objects in clutter},
author={Wada, Kentaro and Sugiura, Makoto and Yanokura, Iori and Inagaki, Yuto and Okada, Kei and Inaba, Masayuki},
journal={Advanced Robotics},
volume={31},
number={6},
pages={311--321},
year={2017},
publisher={Taylor \& Francis}
}
- Install the ROS. Instructions for ROS indigo on Ubuntu 14.04.
- Setup your ROS environment.
- Build catkin workspace for jsk_apc:
$ mkdir -p ~/ros/ws_jsk_apc/src && cd ~/ros/ws_jsk_apc/src
$ wstool init . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/fc.rosinstall
$ cd ..
$ rosdep install -y -r --from-paths .
$ sudo apt-get install python-catkin-tools ros-indigo-jsk-tools
$ catkin build
$ source devel/setup.bash- Edit
/etc/hosts:
133.11.216.214 baxter 011310P0014.local
- Add below in your
~/.bashrc:
$ rossetmaster baxter.jsk.imi.i.u-tokyo.ac.jp
$ rossetip
$ # we recommend below setup (see http://jsk-docs.readthedocs.org/en/latest/jsk_common/doc/jsk_tools/cltools/setup_env_for_ros.html)
$ echo """
rossetip
rosdefault
""" >> ~/.bashrc
$ rossetdefault baxter # set ROS_MASTER_URI as http://baxter:11311
Setup Kinect2
Please follow Instructions at code-iai/iai_kinect2, however, maybe you have error with the master branch. In that case, please use this rosinstall.
Setup Arduino and DXHUB
Create udev rules:
$ rosrun jsk_arc2017_baxter create_udev_rules
so that Arduinos can appear on /dev/arduino* and DXHUB can appear on /dev/r_dxhub
Setup SSH
Write below in ~/.ssh/config:
Host baxter
HostName baxter.jsk.imi.i.u-tokyo.ac.jp
User ruser # password: rethink