graspit_interface

This plugin exposes a ROS interface for the GraspIt! simulator. The main purpose for writing this plugin was to demonstrate what we believe is the easiest way to expose GraspIt! functionality as a variety ROS services and action servers.

Please feel free to use this as a template to write your own bridge between a ros system and GraspIt!.

To see how a client interacts with this interface, check out our python client graspit_commander.

GraspIt Setup:

git clone https://github.com/graspit-simulator/graspit.git
cd graspit
mkdir build
cd build
cmake ..
make -j5
sudo make install

You might need to add /usr/local/lib to the loaded library path as in:

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

You will also want to set the GRASPIT environment variable:

export GRASPIT=~/.graspit

On Linux, you can add both of these lines to the bottom of your ~/.bashrc

ROS Setup:

After running the GraspIt! Setup as explained above, the following details how to setup GraspIt! to work with ROS.

//create ros workspace
mkdir -p graspit_ros_ws/src
cd graspit_ros_ws/src

source /opt/ros/indigo/setup.bash
catkin_init_workspace . 

//clone packages
git clone https://github.com/graspit-simulator/graspit_interface.git
git clone https://github.com/graspit-simulator/graspit_commander.git

//build workspace
cd graspit_ros_ws
catkin_make

Launching graspit_interface:

source devel/setup.bash
roslaunch graspit_interface graspit_interface.launch

Then you can view available services and topics provided by the graspit_interface via:

rostopic list
rosservice list