ROS的抓取姿态检测

ROS的抓取姿态检测
flyfish

环境
ROS Kinetic
Ubuntu 16.04

方法1
agile_grasp

参考论文是
Using Geometry to Detect Grasp Poses in 3D Point Clouds

Andreas ten Pas and Robert Platt

参考网址是
http://wiki.ros.org/agile_grasp

论文地址是
http://www.ccs.neu.edu/home/atp/publications/grasp_poses_isrr2015.pdf

github
https://github.com/atenpas/agile_grasp.git
注意自己ROS的版本
这篇论文

提出了一种利用机器学习,在杂波( clutter)中检测新物体抓取姿态的新方法

算法输入是点云和机器人的手的几何参数
算法的输出是一组期望的抓取的姿态

该方法在孤立(isolation)环境中抓取新物体平均成功率为88%
在密集杂波(dense clutter)中抓取新物体的平均成功率为73%。
在源代码的gpd-forward/tutorials文件夹中有krylon.pcd,table_mug.pcd
可视化看一下
使用python,代码如下

import matplotlib.pyplot as plt
import numpy as np 
 
points = np.loadtxt('table_mug.pcd',skiprows=11) 
fig = plt.figure() 
ax = fig.add_subplot(111, projection='3d') 
count = range(0, points.shape[0]) 
ax.scatter(points[count, 0], 
           points[count, 1], 
           points[count, 2],
           c=points[count, 2],
           cmap='spectral', marker=".") 
ax.axis('scaled') # {equal, scaled} 
plt.show()

krylon.pcd的可视化

table_mug.pcd的可视化

需要点云文件的文件头跳过

# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z
SIZE 4 4 4
TYPE F F F
COUNT 1 1 1
WIDTH 104444
HEIGHT 1
VIEWPOINT 0 0 0 0 1 0 0
POINTS 104444
DATA ascii

方法2
Grasp Pose Detection (GPD)

forward版本可以使用没有Caffe的版本

github
https://github.com/atenpas/gpd/tree/forward

参考论文是

[1] Grasp Pose Detection in Point Clouds
Andreas ten Pas, Marcus Gualtieri, Kate Saenko, and Robert Platt.
[2] High precision grasp pose detection in dense
Marcus Gualtieri, Andreas ten Pas, Kate Saenko, and Robert Platt.

这篇论文主要考虑点云中抓握姿态检测的问题.首先生成大量的grasp,然后分 good grasp和 bad grasp,第二步是 使用大量的数据集训练一个CNN
在密集杂波中平均抓握成功率为93％。 与之前的工作相比，提高了20％。

这里架设了ROS kinectic 版本
深度相机使用了 astra,所以执行命令稍微有点不同

Detect Grasps With an RGBD Camera

1 启动相机命令roslaunch astra_launch astra.launch
2 之后启动rviz
rosrun rviz rviz
在rviz中加载配置文件 gpd/tutorials/openni2.rviz.

3启动ROS节点 detects grasps
roslaunch gpd tutorial1.launch

rostopic list

/camera/camera_nodelet_manager/bond
/camera/depth/camera_info
/camera/depth/image
/camera/depth/image_raw
/camera/depth/image_rect
/camera/depth/image_rect_raw
/camera/depth/points
/camera/depth_rectify_depth/parameter_descriptions
/camera/depth_rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/image_raw
/camera/depth_registered/points
/camera/depth_registered/sw_registered/camera_info
/camera/depth_registered/sw_registered/image_rect
/camera/depth_registered/sw_registered/image_rect_raw
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image
/camera/projector/camera_info
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_rect_color
/camera/rgb_rectify_color/parameter_descriptions
/camera/rgb_rectify_color/parameter_updates
/clicked_point
/detect_grasps/clustered_grasps
/detect_grasps/grasps_rviz
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

rosservice list

/camera/camera_nodelet_manager/get_loggers
/camera/camera_nodelet_manager/list
/camera/camera_nodelet_manager/load_nodelet
/camera/camera_nodelet_manager/set_logger_level
/camera/camera_nodelet_manager/unload_nodelet
/camera/depth_metric/get_loggers
/camera/depth_metric/set_logger_level
/camera/depth_metric_rect/get_loggers
/camera/depth_metric_rect/set_logger_level
/camera/depth_points/get_loggers
/camera/depth_points/set_logger_level
/camera/depth_rectify_depth/get_loggers
/camera/depth_rectify_depth/set_logger_level
/camera/depth_rectify_depth/set_parameters
/camera/depth_registered_sw_metric_rect/get_loggers
/camera/depth_registered_sw_metric_rect/set_logger_level
/camera/driver/get_loggers
/camera/driver/set_logger_level
/camera/driver/set_parameters
/camera/get_serial
/camera/ir/set_camera_info
/camera/points_xyzrgb_sw_registered/get_loggers
/camera/points_xyzrgb_sw_registered/set_logger_level
/camera/register_depth_rgb/get_loggers
/camera/register_depth_rgb/set_logger_level
/camera/rgb/set_camera_info
/camera/rgb_rectify_color/get_loggers
/camera/rgb_rectify_color/set_logger_level
/camera/rgb_rectify_color/set_parameters
/camera_base_link/get_loggers
/camera_base_link/set_logger_level
/camera_base_link1/get_loggers
/camera_base_link1/set_logger_level
/camera_base_link2/get_loggers
/camera_base_link2/set_logger_level
/camera_base_link3/get_loggers
/camera_base_link3/set_logger_level
/detect_grasps/get_loggers
/detect_grasps/set_logger_level
/rosout/get_loggers
/rosout/set_logger_level
/rviz_1544686216572815198/get_loggers
/rviz_1544686216572815198/reload_shaders
/rviz_1544686216572815198/set_logger_level