This repository contains software developed by Plocka Packa for the 2015 Amazon Picking Challenge. The team members were part of the Next Generation Microsystems and Robots Group headed by UT Arlington Electrical Engineering Professor Dan Popa:

• Sven Cremer
• Isura Ranatunga
• Sumit Das
• Fahad Mirza
• Rommel Alonzo
• Joshua Baptist

The master branch is compatible with the PR2 robotic platform running ROS Groovy in Ubuntu 12.04. All packages use the catkin build system.

• apc_cortex: contains state machine nodes
• apc_msgs: defines custom ROS messages and services
• apc_robot: classes with ROS API for moving the head, base, torso, grippers, and arms
• apc_json: reads json files and makes the data available via ROS API
• apc_marker: detects and publishes the pose of QR markers
• apc_object_detection: interacts and handles data from Object Recognition Kitchen (ORK)
• apc_pcl: manipulates and filters raw point clouds
• apc_shelf: tools for detecting and localizing the shelf and individual bins
• apc_vacuum: controls vacuum suction cups and reads pressure data via a serial communications channel
• apc_simulator: launches Gazebo simulation environments for testing
• apc_workspace: scripts and configuration files for setting up workspace
• libraries: third-party software (mainly used by the apc_vacuum package)

Install ROS Groovy on a Ubuntu 12.04 machine using the instructions available at

http://wiki.ros.org/groovy/Installation/Ubuntu

Next, setup a workspace:

source /opt/ros/groovy/setup.bash
mkdir ~/apc_ws/src -p
cd ~/apc_ws/src
catkin_init_workspace
cd ~/apc_ws
catkin_make

Open bashrc with an editor, i.e.

gedit ~/.bashrc

and add the following to the end of the file:

export ROBOT=sim
export ROS_MASTER_URI=http://localhost:11311
source ~/apc_ws/devel/setup.bash

The following needs to be installed (see drone.io file):

sudo apt-get update
sudo apt-get install python-rosinstall
sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep
sudo apt-get install ros-groovy-pr2-desktop
sudo apt-get install ros-groovy-moveit-full
sudo apt-get install ros-groovy-control-msgs
sudo apt-get install ros-groovy-object-*
sudo apt-get install ros-groovy-ar-track-alvar

In ROS groovy, catkin will not be able to find move_base_msgs since it is a rosbuild based package. Therefore, download the catkinized navigation stack in your workspace:

cd ~/apc_ws/src
git clone -b groovy-devel-catkinized https://github.com/ros-planning/navigation.git

Also download the catkinized pr2_common_action_msgs package:

git clone -b hydro-devel https://github.com/PR2/pr2_common_actions.git

Download the APC repository in your workspace:

cd ~/apc_ws/src
git clone https://github.com/amazon-picking-challenge/plocka_packa.git

To compile the full APC package you still need to install PCL 1.7. However, to check if all other depenscies are met, temporary remove the apc_pcl folder and try to compile the workspace:

cd ~/apc_ws
catkin_make

To import the workspace into Eclipse IDE, do this once:

cd ~/apc_ws
catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles"

• Workspace Install

   mkdir obj_ws && cd obj_ws
   wstool init src `rospack find apc_workspace`/conf/apc_object_recog.rosinstall
   cd src && wstool update -j8
   cd .. && rosdep install --from-paths src -i -y
  
   catkin_make
  
   echo "source ~/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc
  

• Building database

• Object Recognition Setup

    roslaunch openni2_launch openni2.launch
    rosrun rviz rviz
  

  • Select /camera/driver from the drop-down menu and enable the depth_registration checkbox.

     	rosrun rqt_reconfigure rqt_reconfigure
    

• Object Recognition Using Tabletop

  • Table Detection

     	rosrun object_recognition_core detection -c `rospack find object_recognition_tabletop`/conf/detection.table.ros.ork
    

  • Object Detection

     	rosrun object_recognition_core detection -c  `rospack find object_recognition_tabletop`/conf/detection.object.ros.ork
    

• Object Recognition Using Linemod

  • Training

     	rosrun object_recognition_core training -c `rospack find object_recognition_linemod`/conf/training.ork
    

  • Detection

     	rosrun object_recognition_core detection -c  `rospack find object_recognition_linemod`/conf/detection.ros.ork
    

These instructions are based on the answer by Neil Traft here http://answers.ros.org/question/62979/how-do-i-use-pcl-17-with-groovy/

A compiled version of this workspace/package is available at https://www.dropbox.com/s/d3m744rbm7u8rl3/pcl_ws.zip?dl=0

• Make PCL workspace

    cd ~
    mkdir -p pcl_ws/src
    cd pcl_ws/src
    git clone https://github.com/ros-perception/perception_pcl.git -b groovy-unstable-devel
    cd perception_pcl
    git checkout 528328f
    cd ..
    catkin_init_workspace
    cd ..
    catkin_make_isolated    # this step takes awhile
  

• Build Catkin package

    source ~/pcl_ws/devel_isolated/setup.bash
    cd ~/catkin_ws
    catkin_make
    source devel/setup.bash
  

• Make sure to include the workspaces in .bashrc in this order

    # ROS
    source /opt/ros/groovy/setup.bash
    source ~/pcl_ws/devel_isolated/setup.bash
    source ~/catkin_ws/devel/setup.bash
  

Make sure you do not build your workspace from any old terminals with the old workspaces. It is better to close all terminals and eclipse and just reopen a terminal.

• Fix for the Error: no such instruction: `vfmadd312sd 120(%rdi),%xmm0,%xmm1' issue.

  Install gcc 4.8: http://askubuntu.com/questions/61254/how-to-update-gcc-to-the-latest-versionin-this-case-4-7-in-ubuntu-10-04

    sudo add-apt-repository ppa:ubuntu-toolchain-r/test
    sudo apt-get update; sudo apt-get install gcc-4.8 g++-4.8
  
    sudo update-alternatives --remove-all gcc 
    sudo update-alternatives --remove-all g++
  
    sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.8 20
    sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.8 20
  
    sudo update-alternatives --config gcc
    sudo update-alternatives --config g++
  

  Verify gcc version with

    gcc --version