- ROS wrapper for DNN based robotic grasping algorithms
- Support GQ-CNN [paper] [code]
- Support 6-DoF-GraspNet [paper] [code]
- Support Contact-GraspNet [paper] [code]
To generate a grasping point, simply use get_target_grasp_pose
service
rosservice call /get_target_grasp_pose
Before run the deep grasping nodes, launch camera nodes
ROS_NAMESPACE=azure1 roslaunch azure_kinect_ros_driver driver.launch color_resolution:=1440P depth_mode:=WFOV_UNBINNED fps:=5 tf_prefix:=azure1_
- Cuurently, this repo may not work properly. I will modify it soon ...
- python 2 --> python 3
- remove TCP connections
GQ-CNN Server
rosrun deep_grasping_ros gqcnn_server.py
GQ-CNN Client
conda activate gqcnn
roscd deep_grasping_ros/src/gqcnn && python gqcnn_client.py
FC-GQ-CNN Client
conda activate gqcnn && \
roscd deep_grasping_ros/src/gqcnn && \
python fc_gqcnn_client.py
conda create -n 6dofgraspnet python=2
python -m pip install -r requirements.txt
cd src && git clone https://github.com/SeungBack/6dof-graspnet
conda activate 6dofgraspnet && pip install -r requirements.txt
Azure kinect node
ros27 && ROS_NAMESPACE=azure1 roslaunch azure_kinect_ros_driver driver.launch color_resolution:=1536P depth_mode:=WFOV_UNBINNED fps:=5 tf_prefix:=azure1_
6-dof-graspnet server
conda activate 6dofgraspnet \
&& roscd deep_grasping_ros/src \
&& python 6dgn_ros_server.py
6-dof-graspnet client
conda activate 6dofgraspnet \
&& roscd deep_grasping_ros/src/6dof-graspnet \
&& python -m demo.6dgn_client --vae_checkpoint_folder checkpoints/npoints_1024_train_evaluator_0_allowed_categories__ngpus_1_/
Robot
cw && ./franka.sh master
ros27 && roslaunch franka_interface interface.launch load_gripper:=true load_demo_planning_scene:=false
Azure kinect node
ROS_NAMESPACE=azure1 roslaunch azure_kinect_ros_driver driver.launch color_resolution:=720P depth_mode:=WFOV_UNBINNED fps:=5 tf_prefix:=azure1_
rosrun tf static_transform_publisher 0.078997 0.001502 0.066975 0.697583 -0.005156 0.716441 -0.007980 /panda_hand /azure1_camera_base 100
contact graspnet server
ros27 && roscd deep_grasping_ros && python src/contact_grasp_server.py
contact graspnet client
conda activate contact_graspnet_env \
&& roscd deep_grasping_ros/src/contact_graspnet \
&& CUDA_VISIBLE_DEVICES=0 python contact_graspnet/contact_grasp_client.py --local_regions --filter_grasps
conda activate uoais \
&& roscd deep_grasping_ros/src/uoais \
&& CUDA_VISIBLE_DEVICES=1 python demo/uoais_client.py
For Unstructured Contact-GraspNet
'''
un
&& roslaunch gail_camera_manager gail_camera_driver_un.launch
un
&& cd ~/catkin_ws/src/deep-grasping/src
&& python contact_grasp_server.py
uncg
&& cd /home/ailab/catkin_ws/src/deep-grasping/src/contact_graspnet/contact_graspnet
&& python contact_grasp_client.py
un
&& cd ~/catkin_ws/src/deep-grasping/src/uoais
&& python demo/uoais_client.py
un
&& rosservice call /get_target_grasp_pose
'''
- Seunghyeok Back seungback