sawback

Table of Contents

• Overview
  
• Packages
  
• Getting Started
  
• Manipulation and Grasping Demo
  

Overview

A supplementary repository to nu_ridgeback. This repository contains the tools for manipulation using the Sawyer on board the Ridgeback.

Packages

• sawback_description: Sawback URDF
• sawback_manipulation: Pick and Place pipeline
• sawback_moveit_config: Moveitcpp configuration and SRDF
• sawback_msgs: Manipulation messages

Getting Started

If you have completed the Getting Started section of the nuridgeback_robot package then skip steps 2 and 3. Otherwise complete the step bellow to setup the workspace.

1. Grasp pose detection Install the grasp pose detection library. On the Ridgback's computer this is installed in ~/Libraries.

• Important: The grasping library must be install with sudo make install so this package can link against it.
• Important: Update the absolute file path to the gpd/models/lenet/15channels/params/ directory on line 49 in sawback_manipulation/config/gpd_config.yaml.

2. Create the workspace and close the relevant packages

mkdir -p ~/sawback_ws/src
cd ~/sawback_ws/src
wstool init .
wstool merge -t . https://github.com/bostoncleek/sawback/blob/master/sawback.rosinstall
wstool update -t .

3. Build the workspace

cd ~/sawback_ws
catkin init
catkin build -DMCAKE_BUILD_TYPE=Release

Manipulation and Grasping Demo

To launch the manipulation pipeline see sawback_manipulation. To see the full mobile manipulation sequence see this video.