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grasp_planning_benchmark.launch
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<launch>
<arg name="gpd" default="false" />
<arg name="superquadrics" default="false" />
<arg name="graspnet" default="false" />
<arg name="dexnet" default="false" />
<arg name="realsense" default="false" />
<!-- Launch realsense camera -->
<include file="$(find realsense2_camera)/launch/rs_rgbd.launch" if="$(arg realsense)">
<arg name="align_depth" value="true"/>
<arg name="enable_pointcloud" value="true"/>
</include>
<!-- Run Dexnet Grasp Planner -->
<group if="$(arg dexnet)">
<arg name="ns" default="dexnet_bench" />
<arg name="grasp_planner_service_name" default="dexnet_grasp_planner_service" />
<arg name="grasp_planner_service" default="GraspPlanner" />
<arg name="grasp_publisher_name" default="candidate_grasp" />
<arg name="model_dir" default="/workspace/sources/gqcnn/models" />
<arg name="fully_conv" default="false" />
<arg name="model_name" default="FC-GQCNN-4.0-PJ" if="$(eval fully_conv == true)" />
<arg name="model_name" default="GQCNN-4.0-PJ" if="$(eval fully_conv == false)" />
<arg name="grasp_pose_offset" default="[0.0, 0.0, 0.005]" />
<node name="dexnet_grasp_planner" pkg="grasping_benchmarks_ros" type="dexnet_grasp_planner_service.py" ns="$(arg ns)" output="screen" >
<param name="model_name" value="$(arg model_name)" />
<param name="model_dir" value="$(arg model_dir)" />
<param name="fully_conv" value="$(arg fully_conv)" />
<param name="grasp_planner_service_name" value="$(arg grasp_planner_service_name)" />
<param name="grasp_publisher_name" value="$(arg grasp_publisher_name)" />
<rosparam param="grasp_pose_offset" subst_value="True">$(arg grasp_pose_offset)</rosparam>
</node>
<!-- Launch Manager -->
<arg name="user_cmd_service_name" default="user_cmd" />
<node name="grasp_benchmark_manager" pkg="grasping_benchmarks_ros" type="benchmark_ros_manager.py" ns="$(arg ns)" output="screen">
<param name="user_cmd_service_name" value="$(arg user_cmd_service_name)" />
<param name="grasp_planner_service_name" value="$(arg grasp_planner_service_name)" />
<param name="grasp_planner_service" value="$(arg grasp_planner_service)" />
</node>
</group>
<!-- Run GPD Grasp Planner -->
<group if="$(arg gpd)">
<arg name="ns" default="gpd_bench" />
<arg name="grasp_planner_node_name" default="gpd_grasp_planner" />
<arg name="grasp_planner_service_name" default="gpd_grasp_planner_service" />
<arg name="grasp_planner_service" default="GraspPlannerCloud" />
<arg name="grasp_publisher_name" default="candidate_grasp" />
<arg name="config_file" default="$(find grasping_benchmarks_ros)/gpd_ros/cfg/ros_caffe_params.cfg" />
<arg name="publish_rviz" default="true" />
<arg name="grasp_pose_offset" default="[0.0, 0.0, 0.05]" />
<node name="$(arg grasp_planner_node_name)" pkg="grasping_benchmarks_ros" type="gpd_grasp_planner_service" ns="$(arg ns)" output="screen" >
<param name="grasp_planner_service_name" value="$(arg grasp_planner_service_name)" />
<param name="grasp_publisher_name" value="$(arg grasp_publisher_name)" />
<param name="config_file" value="$(arg config_file)" />
<param name="publish_rviz" value="$(arg publish_rviz)" />
<rosparam param="grasp_pose_offset" subst_value="True">$(arg grasp_pose_offset)</rosparam>
</node>
<!-- Launch Manager -->
<arg name="user_cmd_service_name" default="user_cmd" />
<node name="grasp_benchmark_manager" pkg="grasping_benchmarks_ros" type="benchmark_ros_manager.py" ns="$(arg ns)" output="screen">
<param name="user_cmd_service_name" value="$(arg user_cmd_service_name)" />
<param name="grasp_planner_service_name" value="$(arg grasp_planner_node_name)/$(arg grasp_planner_service_name)" />
<param name="grasp_planner_service" value="$(arg grasp_planner_service)" />
</node>
</group>
<!-- Run Superquadrics-based Grasp Planner -->
<group if="$(arg superquadrics)">
<arg name="ns" default="superquadric_bench" />
<arg name="grasp_planner_node_name" default="superq_grasp_planner" />
<arg name="grasp_planner_service_name" default="superq_grasp_planner_service" />
<arg name="grasp_planner_service" default="GraspPlannerCloud" />
<arg name="grasp_publisher_name" default="candidate_grasp" />
<arg name="config_file" default="$(find grasping_benchmarks_ros)/superquadric_based_ros/cfg/config_panda.yaml" />
<arg name="grasp_pose_offset" default="[0.0, 0.0, 0.0]" />
<node name="$(arg grasp_planner_node_name)" pkg="grasping_benchmarks_ros" type="superq_grasp_planner_service.py" ns="$(arg ns)" output="screen" >
<param name="grasp_planner_service_name" value="$(arg grasp_planner_service_name)" />
<param name="grasp_publisher_name" value="$(arg grasp_publisher_name)" />
<param name="config_file" value="$(arg config_file)" />
<rosparam param="grasp_pose_offset" subst_value="True">$(arg grasp_pose_offset)</rosparam>
</node>
<!-- Launch Manager -->
<arg name="user_cmd_service_name" default="user_cmd" />
<node name="grasp_benchmark_manager" pkg="grasping_benchmarks_ros" type="benchmark_ros_manager.py" ns="$(arg ns)" output="screen">
<param name="user_cmd_service_name" value="$(arg user_cmd_service_name)" />
<param name="grasp_planner_service_name" value="$(arg grasp_planner_service_name)" />
<param name="grasp_planner_service" value="$(arg grasp_planner_service)" />
</node>
</group>
<!-- Run GraspNet Grasp Planner -->
<group if="$(arg graspnet)" >
<!-- Planner params -->
<arg name="ns" default="graspnet_bench" />
<arg name="grasp_planner_node_name" default="graspnet_grasp_planner" />
<arg name="grasp_planner_service_name" default="graspnet_grasp_planner_service" />
<arg name="grasp_publisher_name" default="candidate_grasp" />
<arg name="config_file" default="$(find grasping_benchmarks_ros)/graspnet_ros/cfg/cfg_graspnet.yaml" />
<arg name="grasp_pose_offset" default="[0.0, 0.0, 0.11]" />
<arg name="grasp_planner_service" default="GraspPlannerCloud" />
<!-- this last one is unused, left for legacy will have to be removed -->
<!-- Launch planner -->
<node name="graspnet_grasp_planner" pkg="grasping_benchmarks_ros" type="graspnet_grasp_planner_service.py" ns="$(arg ns)" output="screen">
<param name="grasp_planner_node_name" value="$(arg grasp_planner_node_name)" />
<param name="grasp_planner_service_name" value="$(arg grasp_planner_service_name)" />
<param name="grasp_publisher_name" value="$(arg grasp_publisher_name)" />
<param name="config_file" value="$(arg config_file)" />
<rosparam param="grasp_pose_offset" subst_value="True">$(arg grasp_pose_offset)</rosparam>
</node>
<!-- Manager params -->
<arg name="user_cmd_service_name" default="user_cmd" />
<!-- Launch Manager -->
<node name="grasp_benchmark_manager" pkg="grasping_benchmarks_ros" type="benchmark_ros_manager.py" ns="$(arg ns)" output="screen">
<param name="user_cmd_service_name" value="$(arg user_cmd_service_name)" />
<param name="grasp_planner_service_name" value="$(arg grasp_planner_service_name)" />
<param name="grasp_planner_service" value="$(arg grasp_planner_service)" />
</node>
</group>
</launch>