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jskrobotics/jsk_apc

By jskrobotics

•Updated over 2 years ago

https://github.com/start-jsk/jsk_apc

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jskrobotics/jsk_apc repository overview

⁠jsk_apc

GitHub version Gitter Slack Documentation Status Docker Cloud Build Status Forum (baxter⁠, apc⁠)

jsk_apc is a stack of ROS packages for Amazon Picking Challenge⁠ mainly developed by JSK lab.
The documentation is available at here⁠.

⁠Usage

⁠APC/ARC Competitions
CompetitionDocumentation
APC2015See jsk_2015_05_baxter_apc⁠.
APC2016See jsk_2016_01_baxter_apc⁠.
ARC2017See jsk_arc2017_baxter⁠.
⁠Research papers
PaperDocumentationPaper DOI URL
K. Wada et al, ICRA, 2019See demos/instance_occlsegm⁠.10.1109/ICRA.2019.8793783⁠
K. Wada et al, IROS, 2018See demos/instance_occlsegm⁠.10.1109/IROS.2018.8593690⁠
K. Wada et al, AR, 2017See jsk_2015_05_baxter_apc⁠.10.1080/01691864.2016.1269672⁠
S .Hasegawa et al, RA-L, 2020See demos/baxter_paper_filing⁠.10.1109/LRA.2020.3010440⁠
S .Hasegawa et al, ICRA, 2019See demos/grasp_fusion⁠.10.1109/ICRA.2019.8793710⁠
S. Hasegawa et al, JRM, 2019See demos/baxtergv6_apc2016⁠.10.20965/jrm.2019.p0289⁠
S. Hasegawa et al, IROS, 2018See demos/grasp_prediction_arc2017⁠.10.1109/IROS.2018.8593398⁠
S. Hasegawa et al, IROS, 2017See jsk_2016_01_baxter_apc⁠.10.1109/IROS.2017.8202288⁠
S. Kitagawa et al, AR, 2020See demos/selective_dualarm_grasping⁠.10.1080/01691864.2020.1783352⁠
S. Kitagawa et al, IROS, 2018See demos/selective_dualarm_grasping⁠.10.1109/IROS.2018.8593752⁠
S. Kitagawa et al, IAS, 2018See demos/selecive_dualarm_stowing⁠.10.1007/978-3-030-01370-7_34⁠

⁠Installation

⁠Required
  1. Install the ROS. Instructions for ROS indigo on Ubuntu 14.04⁠.
  2. Setup your ROS environment⁠.
  3. 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.${ROS_DISTRO}
$ 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:
133.11.216.224 baxter 011310P0014.local
⁠Add below in your ~/.bashrc:
$ rossetmaster baxter
$ 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
⁠Optional
⁠Setup Arduino and DXHUB

  1. To distinguish left DXHUB from right one, follow the instruction here⁠.

  2. Create udev rules:

$ rosrun jsk_arc2017_baxter create_udev_rules

so that Arduinos can appear on /dev/arduino* and DXHUBs can appear on /dev/l_dxhub and /dev/r_dxhub

⁠Setup scales

Create udev rules:

$ rosrun jsk_arc2017_common create_udev_rules

so that scales can appear on /dev/scale*

⁠Setup SSH

Write below in ~/.ssh/config:

Host baxter
  HostName baxter.jsk.imi.i.u-tokyo.ac.jp
  User ruser  # password: rethink
⁠Setup UP Board

Inside UP Board...

  1. Install ros-kinetic-ros-base and setup environment⁠.
  2. Build catkin workspace for jsk_apc:
$ source /opt/ros/kinetic/setup.bash
$ mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
$ wstool init . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/upboard.rosinstall
$ wstool merge -t . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/upboard.rosinstall.kinetic
$ wstool update
$ sudo apt install python-pip
$ rosdep install -y -r --from-paths . --ignore-src
$ sudo apt install python-catkin-tools
$ cd .. && catkin build
$ echo 'source $HOME/ros/kinetic/devel/setup.bash' >> ~/.bashrc
$ echo "rossetip" >> ~/.bashrc
$ echo "rossetmaster baxter" >> ~/.bashrc
$ source ~/.bashrc
  1. Create udev rules:
# baxter-c2
$ rosrun jsk_arc2017_baxter create_udev_rules
# baxter-c3
$ rosrun jsk_arc2017_common create_udev_rules
  1. Create ~/env-loader.sh:
#!/bin/bash

. $HOME/ros/kinetic/devel/setup.bash
export ROSCONSOLE_FORMAT='[${severity}] [${time}]: [${node}] [${function}] ${message}'
rossetip
rossetmaster baxter
exec "$@"

and chmod +x ~/env-loader.sh

  1. Setup time synchronization
sudo apt install ntp
# Set the same configuration as other PCs
sudo vi /etc/ntp.conf

From main PC...

  1. ssh -oHostKeyAlgorithms='ssh-rsa' baxter@<UP Board Host Name>.jsk.imi.i.u-tokyo.ac.jp
  2. Add main PC's ssh public key to ~/.ssh/authorized_keys on UP Board.

⁠Citations

⁠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}
}

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Last updated

over 2 years ago

docker pull jskrobotics/jsk_apc:melodic-latest