object_search's Introduction

object_search

Lightweight inference tools for hypothesizing object positions and planning viewpoints in 3D space. The object_search repository is a catkinized ROS package.

Prerequisites

Please refer to the OctoMap mailing list for installation instructions: 'How to use the latest version of octomap in ROS groovy?'

Getting Started (in simulation)

Compile your catkin workspace including the object_search package:
```
 $ catkin_make
```
Open a terminal and run:

Start the core:
```
 $ roscore
```
Launch the simulator: (Please note: the object does not include any objects by default)
```
 $ roslaunch --wait strands_morse bham_cs_morse.launch env:=cs_lg_obj_search
```
Add an object in the cs_lg_obj_search.py file as follows:
```
 cup = PassiveObject('strands_sim/robots/strands_objects.blend','cup')
 cup.properties(Object = True, Type = 'Cup')
 cup.translate(0,0,1.0)
```
Launch the 2D robot navigation
```
 $ roslaunch --wait strands_morse bham_cs_nav2d.launch
```
Launch the octomap server and build a map. Or use a pre-build map:
```
 $ rosrun octomap_server octomap_server_node `rospack find strands_morse`/bham/maps/cs_lg_obj_search_octomap.bt
```
Launch the object search utils
```
 $ roslauch object_search object_search.launch
```
Run the action server:
```
 $ rosrun object_search object_search_server.py
```
Start the search using an action client where <object> is the name of the object the robot is looking for, e.g. Cup:
```
 $ rosrun object_search object_search_client.py <object>
```
Start RVIZ and subscribe to a PoseArray named nav_goals and a MarkerArray named /supporting_planes_poses to visualize the viewplanning result.

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