ARC2017 Pick Task Trial on Real World

Pick task trial on real world for ARC2017 can be done on baxter@baxter-c1.

• Prepare json.
• Set objects in Shelf.

# Launch nodes to control robot.
baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter baxter.launch

# Launch nodes in recognition pipeline for pick task.
baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter setup_for_pick.launch

# optional: Check sanity.
baxter@baxter-c1 $ rosrun jsk_2016_01_baxter_apc check_sanity_setup_for_pick

# Run task!
baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter pick.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_pick_task

With Environment Imitating ARC2017 Pick Competition

Preparation

baxter@baxter-c1 $ rosrun jsk_arc2017_common install_pick_re-experiment

Execution

baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter baxter.launch
baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter setup_for_pick.launch
baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter pick.launch json_dir:=$HOME/data/arc2017/system_inputs_jsons/pick_re-experiment/json