Commit 83a0fab8 authored by Tiago 47c's avatar Tiago 47c
Browse files

update various - sry

parent 5ebe3441
name: grasping_object_recognition
cmd:
- start: |
source_ecwm
stdbuf -oL -eL roslaunch storing_groceries_node grasping_object_recognition_intel_realsense objects_config_path:=${GRASPING_OBJECTS_CONFIG}
source_ros
stdbuf -oL -eL roslaunch storing_groceries_node grasping_object_recognition_intel_realsense.launch objects_config_path:=${GRASPING_OBJECTS_CONFIG}
- check: |
source ${prefix}/setup.bash
rosnode list | grep "grasping_object_recognition"
requires:
- base_system
- fitting
- object_recognition
host: ${laptop}
name: admittance_controller
cmd:
- start: |
source_ros
stdbuf -oL -eL roslaunch admittance_trajectory_control admittance_controller.launch
- check: #TODO
wait: 20
requires:
- arm
provides:
- admittance-control
tags:
- control
noauto: true
host: ${laptop}
#original vdemo definition
#"roslaunch, $laptop, -v PACKAGE=tiago_moveit_config -v LAUNCHFILE=move_group.launch -n -t move_group -l -g ARM -L 2:"
\ No newline at end of file
name: moveit
name: calibrateFt
cmd:
- start: |
source_ecwm
stdbuf -oL -eL roslaunch tiago_moveit_config move_group.launch
source_ros
stdbuf -oL -eL calibrateFt.sh
- check: #TODO
tags:
- moveit
- manipulation
wait: 20
requires:
- base_system
- admittance-control
provides:
- moveit
tags:
- control
noauto: true
host: ${basepc}
host: ${laptop}
#original vdemo definition
#"roslaunch, $laptop, -v PACKAGE=tiago_moveit_config -v LAUNCHFILE=move_group.launch -n -t move_group -l -g ARM -L 2:"
#"roslaunch, $laptop, -v PACKAGE=tiago_moveit_config -v LAUNCHFILE=move_group.launch -n -t move_group -l -g ARM -L 2:"
\ No newline at end of file
name: compliant
cmd:
- start: |
source_ros
stdbuf -oL -eL compliant.sh
- check: #TODO
wait: 20
requires:
- admittance-control
tags:
- control
noauto: true
host: ${laptop}
#original vdemo definition
#"roslaunch, $laptop, -v PACKAGE=tiago_moveit_config -v LAUNCHFILE=move_group.launch -n -t move_group -l -g ARM -L 2:"
\ No newline at end of file
name: nonCompliant
cmd:
- start: |
source_ros
stdbuf -oL -eL nonCompliant.sh
- check: #TODO
wait: 20
requires:
- admittance-control
tags:
- control
noauto: true
host: ${laptop}
#original vdemo definition
#"roslaunch, $laptop, -v PACKAGE=tiago_moveit_config -v LAUNCHFILE=move_group.launch -n -t move_group -l -g ARM -L 2:"
\ No newline at end of file
name: switch to admittance
cmd:
- start: |
source_ros
stdbuf -oL -eL switchToAdmittanceController.sh
- check: #TODO
wait: 20
requires:
- admittance-control
tags:
- control
noauto: true
host: ${laptop}
#original vdemo definition
#"roslaunch, $laptop, -v PACKAGE=tiago_moveit_config -v LAUNCHFILE=move_group.launch -n -t move_group -l -g ARM -L 2:"
\ No newline at end of file
......@@ -12,5 +12,6 @@ requires:
- base_system
provides:
- rgbd
- realsense
host: ${laptop}
name: tf_annotate
cmd:
- start: |
source_ros
export PYTHONPATH=${prefix}/lib/python2.7/site-packages:$PYTHONPATH
source_objrec_tensorflow
stdbuf -oL -eL rosrun clf_object_recognition_tools annotation_gui
- check: #TODO
tags:
......
name: tf_detection
cmd:
- start: |
source_ros
export PYTHONPATH=${prefix}/lib/python2.7/site-packages:$PYTHONPATH
source_objrec_tensorflow
stdbuf -oL -eL rosrun clf_object_recognition_tensorflow object_detection_node _graph_path:=${OBJECT_DET_GRAPH} _labels_path:=${OBJECT_DET_LABELS} _rec_path:=${OBJECT_REC_PATH} _detection_threshold:=${OBJECT_DETECTION_THRESHOLD}
- check: |
source ${prefix}/setup.bash
......
name: tf_recognition
cmd:
- start: |
source_ros
export PYTHONPATH=${prefix}/lib/python2.7/site-packages:$PYTHONPATH
source_objrec_tensorflow
stdbuf -oL -eL rosrun clf_object_recognition_tensorflow object_recognition_node _graph_path:=${OBJECT_REC_GRAPH} _labels_path:=${OBJECT_REC_LABELS}
- check: |
source ${prefix}/setup.bash
......
name: tf_storing_groceries-RS
cmd:
- start: |
source_ros
stdbuf -oL -eL roslaunch storing_groceries_node grasping_object_recognition_intel_realsense.launch objects_config_path:=${GRASPING_OBJECTS_CONFIG}
- check: |
source ${prefix}/setup.bash
rosnode list | grep "grasping_object_recognition"
requires:
- base_system
- object_recognition
- realsense
host: ${laptop}
name: tf_test
cmd:
- start: |
source_ros
source_objrec_tensorflow
stdbuf -oL -eL rosrun clf_object_recognition_tools test_gui
- check: #TODO
tags:
......
name: tf_train
cmd:
- start: |
source_ros
export PYTHONPATH=${prefix}/lib/python2.7/site-packages:$PYTHONPATH
source_objrec_tensorflow
stdbuf -oL -eL rosrun clf_object_recognition_tools train_gui
- check: #TODO
tags:
......
name: rviz-mtc
cmd:
- start: |
source_ros
export ARGS="-d ${RVIZ_CONFIG_MTC}"
if [ -z "$RVIZ_CONFIG_MTC" ]; then
export ARGS=""
fi;
stdbuf -oL -eL rosrun rviz rviz ${ARGS}
- check: |
pgrep rviz
wait: 4
tags:
- viz
requires:
- base_system
noauto: true
host: ${laptop}
#original vdemo definition
#"ros_rviz,$laptop, -t rviz_clf_nav -n -x -g ros -v RVIZ_CONFIG=${prefix}/share/tiago_clf_nav/config/rviz.rviz -L 5: "
name: TiagoCuproDemo
env: ../env/nightly_env.sh
groups:
- !include ../../components/groups/tiago/core.yaml
- name: Visualization
components:
- !include ../../components/rviz.yaml
- !include ../../components/vis/rviz-mtc.yaml
- name: Manipulation
components:
- !include ../../components/moveit-robot.yaml
- !include ../../components/manip/admittance_controller.yaml
- !include ../../components/manip/calibrate.yaml
- !include ../../components/manip/compliant.yaml
- !include ../../components/manip/non-compliant.yaml
- !include ../../components/manip/switch_admittance.yaml
exclude:
- simulation
- tf_train
log_umask: 0o000
ocal_monitor: True
remote_monitor: True
remote_stat_rate: 0.5
local_stat_rate: 2
shell_path: /bin/bash
verbose_checks: True
slave_hyperion_source_path: /vol/tiago/robot-47c/setup.bash
monitoring_rate: 1
\ No newline at end of file
......@@ -40,6 +40,6 @@ remote_stat_rate: 0.5
local_stat_rate: 2
shell_path: /bin/bash
verbose_checks: True
slave_hyperion_source_path: /vol/tiago/melodic-clf/setup.bash
slave_hyperion_source_path: /vol/tiago/robot-47c/setup.bash
monitoring_rate: 1
\ No newline at end of file
name: TiagoDynamicDemo
env: ../env/tiago_env.sh
env: ../env/ersti_demo_env.sh
groups:
- !include ../../components/groups/tiago/core.yaml
......@@ -15,19 +15,17 @@ groups:
- !include ../../components/moveit.yaml
- !include ../../components/hand_over.yaml
- !include ../../components/moveit-robot.yaml
- !include ../../components/mtc_server.yaml
- !include ../../components/groups/tensorflow_group.yaml
- name: ECWM
components:
- !include ../../components/ecwm.yaml
- !include ../../components/groups/perception_group.yaml
- name: Arm
components:
- !include ../../components/mtc_server.yaml
- name: Object
components:
- !include ../../components/tf_recognition.yaml
- !include ../../components/sq_fitting.yaml
- !include ../../components/grasping_object_recognition.yaml
- !include ../../components/tf_sg_node-rs.yaml
exclude:
- simulation
......@@ -40,6 +38,6 @@ remote_stat_rate: 0.5
local_stat_rate: 2
shell_path: /bin/bash
verbose_checks: True
slave_hyperion_source_path: /vol/tiago/melodic-clf/setup.bash
slave_hyperion_source_path: /vol/tiago/robot-47c/setup.bash
monitoring_rate: 1
\ No newline at end of file
......@@ -5,7 +5,6 @@ export basepc=$(hostname -s)
@ENVFILE_melodic-clf@
@ENVFILE_default_paths@
@ENVFILE_cupro@
export SIMMODE="false"
......
#!/bin/bash
# Set Basepc
export basepc=$(hostname -s)
@ENVFILE_melodic-clf-nightly@
@ENVFILE_default_paths@
@ENVFILE_ros@
@ENVFILE_objrec-tensorflow@
# Default to non sim
if [[ -z "${SIMMODE}" ]]; then
export SIMMODE="false"
fi
if [[ "$SIMMODE" = true ]]; then
@ENVFILE_sim@
#Simulation map/world
export NAVIGATION_MAP="${PATH_TO_MAPS}/sim/centralLab.yaml"
export SIMULATION_WORLD="centralLab"
else
@ENVFILE_tiago@
# Map
export NAVIGATION_MAP="${PATH_TO_MAPS}/real/clf_cupro_2.yaml"
fi
### Configs
# Map
export NAVIGATION_MAP="${PATH_TO_MAPS}/real/clf_cupro_2.yaml"
#ECWM World
export ECWM_WORLD="clf_cupro.yaml"
#Bonsai Task
export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG}/demos/erstiDemo.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML}/demos/erstiDemo.xml"
#pocketsphinx_grammars
export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/demos/erstiDemo.conf"
# Rviz config
export RVIZ_CONFIG="${ecwm_prefix}/share/ecwm_cupro/config/demo3.rviz"
# segmentation
export SEGMENTATION_CONFIGS="${prefix}/share/clf_object_recognition_config/config"
export KINECT_COLOR_XML="${SEGMENTATION_CONFIGS}/kinect-color-vga.xml"
export KINECT_DEPTH_XML="${SEGMENTATION_CONFIGS}/kinect-depth-vga.xml"
export SEGMENTER_PATH="${SEGMENTATION_CONFIGS}/segmentation_config.xml"
export ROBOT_FILTER="${SEGMENTATION_CONFIGS}/robotfilter.xml"
export OBJECT_MERGER_THRESHOLD=0.5
# Default KBASE locations
export PATH_TO_MONGOD_CONFIG="$prefix/share/robocup_data/mongod/mongod.conf"
export PATH_TO_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/use_challenge_db.yaml"
export PATH_TO_EDIT_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/edit_challenge_db.yaml"
#object
export OBJECT_DET_PATH="${prefix}/share/robocup_data/tensorflow/detection/md_all"
export OBJECT_REC_PATH="${prefix}/share/robocup_data/tensorflow/recognition/cupro_02"
export OBJECT_DET_GRAPH="${OBJECT_DET_PATH}/frozen_inference_graph.pb"
export OBJECT_DET_LABELS="${OBJECT_DET_PATH}/labelMap.pbtxt"
export OBJECT_REC_GRAPH="${OBJECT_REC_PATH}/output_graph.pb"
export OBJECT_REC_LABELS="${OBJECT_REC_PATH}/output_labels.txt"
export OBJECT_DETECTION_THRESHOLD="0.5"
export GRASPING_OBJECTS_CONFIG="${prefix}/share/storing_groceries_node/config/challenge2020.yaml"
# Other
export ACTOR_VEL_TOPIC="/Olf/cmd_vel"
\ No newline at end of file
#!/bin/bash
@ENVFILE_melodic-clf@
# Set Basepc
export basepc=$(hostname -s)
@ENVFILE_melodic-clf-nightly@
@ENVFILE_default_paths@
@ENVFILE_cupro@
export SIMMODE="false"
......@@ -11,20 +13,21 @@ export SIMMODE="false"
### Configs
# Map
export NAVIGATION_MAP="${PATH_TO_MAPS}/real/clf_cupro_2.yaml"
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/clf_cupro_2.yaml"
#ECWM World
export ECWM_WORLD="clf_cupro.yaml"
#Bonsai Task
export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG}/demos/erstiDemo.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML}/demos/erstiDemo.xml"
export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG}/demos/cupro_demo.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML}/demos/cuproKitchen.xml"
#pocketsphinx_grammars
export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/demos/demoErsti.conf"
export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/demos/cupro.conf"
# Rviz config
export RVIZ_CONFIG="${ecwm_prefix}/share/ecwm_cupro/config/demo3.rviz"
export RVIZ_CONFIG="${prefix}/share/ecwm_cupro/config/demo3.rviz"
export RVIZ_CONFIG_MTC="${prefix}share/tiago_moveit_config/config/moveit_mtc.rviz"
# segmentation
export SEGMENTATION_CONFIGS="${prefix}/share/clf_object_recognition_config/config"
......@@ -43,7 +46,7 @@ export PATH_TO_EDIT_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/confi
export OBJECT_DET_PATH="${prefix}/share/storing_groceries_node/object"
export OBJECT_DET_GRAPH="${OBJECT_DET_PATH}/detection/frozen_inference_graph.pb"
export OBJECT_DET_LABELS="${OBJECT_DET_PATH}/detection/label_map.pbtxt"
export OBJECT_REC_PATH="${prefix}/share/robocup_data/tensorflow/recognition/ycb_plus"
export OBJECT_REC_PATH="${prefix}/share/robocup_data/tensorflow/recognition/cupro_02"
export OBJECT_REC_GRAPH="${OBJECT_REC_PATH}/output_graph.pb"
export OBJECT_REC_LABELS="${OBJECT_REC_PATH}/output_labels.txt"
export OBJECT_DETECTION_THRESHOLD="0.5"
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment