Merge pull request #437 from 708yamaguchi/grasp-by-2d-point

[WIP] [pr2eus_tutorials] Select grasp position via 2D image

pr2eus_tutorials/README.md

@@ -127,6 +127,18 @@ You can click any object that you want the robot to pick up.
 
 ![pr2_tabletop_sim](https://gist.githubusercontent.com/furushchev/b3f3bb08953407966f80f4b0ac70c7dd/raw/pr2_tabletop_screen.png)
 
+
+##### Click object on image_view2
+
+You can click any pixels that you want the robot to pick up.
+
+```bash
+rosrun image_view2 image_view2 image:=/kinect_head/rgb/throttled/image_rect_color camera_info:=/head_mount_kinect/rgb/camera_info
+```
+
+![pr2_interactive](https://user-images.githubusercontent.com/19769486/81817136-3913f200-9567-11ea-800a-f95bd4057cb5.png)
+
+
 ### Step-by-step Description of Demo program
 
 In the bottom of the demo program `pr2-tabletop-object-grasp.l`, you can see a main function `demo`.

pr2eus_tutorials/config/pr2_tabletop.rviz

@@ -8,7 +8,7 @@ Panels:
         - /Status1
         - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 745
+    Tree Height: 698
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -17,7 +17,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -28,6 +28,8 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: Kinect PointCloud
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -39,7 +41,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -540,7 +542,7 @@ Visualization Manager:
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.00999999978
+      Size (m): 0.009999999776482582
       Style: Flat Squares
       Topic: /kinect_head/depth_registered/throttled/points
       Unreliable: false
@@ -553,10 +555,10 @@ Visualization Manager:
       Topic: /segmentation_decomposer/boxes
       Unreliable: false
       Value: true
-      alpha: 0.800000012
+      alpha: 0.800000011920929
       color: 25; 255; 0
       coloring: Auto
-      line width: 0.00499999989
+      line width: 0.004999999888241291
       only edge: false
       show coords: true
     - Alpha: 1
@@ -569,7 +571,7 @@ Visualization Manager:
       Value: true
       coloring: Auto
       enable lighting: true
-      normal length: 0.100000001
+      normal length: 0.10000000149011612
       only border: true
       show normal: true
     - Class: rviz/InteractiveMarkers
@@ -582,11 +584,11 @@ Visualization Manager:
       Update Topic: /bounding_box_interactive_marker/update
       Value: true
     - Align Bottom: false
-      Background Alpha: 0.800000012
+      Background Alpha: 0.800000011920929
       Background Color: 0; 0; 0
       Class: jsk_rviz_plugin/OverlayText
       Enabled: true
-      Foreground Alpha: 0.800000012
+      Foreground Alpha: 0.800000011920929
       Foreground Color: 25; 255; 240
       Name: Grasp Status
       Overtake Color Properties: false
@@ -600,6 +602,15 @@ Visualization Manager:
       text size: 12
       top: 0
       width: 128
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: ray_marker_array
+      Name: RayMarkerArray
+      Namespaces:
+        test_line: true
+        test_sphere: true
+      Queue Size: 100
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 0; 0; 0
@@ -615,7 +626,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -625,33 +639,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.52001023
+      Distance: 3.520010232925415
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.0445861518
-        Y: 0.339318067
-        Z: 0.386238486
+        X: -0.04458615183830261
+        Y: 0.33931806683540344
+        Z: 0.3862384855747223
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.629800022
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.629800021648407
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 5.77176809
+      Yaw: 5.771768093109131
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1056
+  Height: 1025
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001fb00000378fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000378000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000064afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000064a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000005cfc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000053e0000037800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001fb00000345fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000345000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000064afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000064a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000005cfc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000053c0000034500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -660,6 +674,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1855
-  X: 65
-  Y: 24
+  Width: 1853
+  X: 67
+  Y: 27