Awesome
ros_deep_grasp
This is the ROS implementation of our RA-L work 'Real-world Multi-object, Multi-grasp Detection'. The detector takes RGB-D image input and predicts multiple grasp candidates for a single object or multiple objects, in a single shot. The original arxiv paper can be found here. The final version will be updated after publication process.
If you find it helpful for your research, please consider citing:
@inproceedings{chu2018deep,
title = {Real-World Multiobject, Multigrasp Detection},
author = {F. Chu and R. Xu and P. A. Vela},
journal = {IEEE Robotics and Automation Letters},
year = {2018},
volume = {3},
number = {4},
pages = {3355-3362},
DOI = {10.1109/LRA.2018.2852777},
ISSN = {2377-3766},
month = {Oct}
}
If you encounter any questions, please contact me at fujenchu[at]gatech[dot]edu
Installation
- Please follow the instructions in our original repo for DeepGrasp
- Please follow the instructions in ROS website to install ROS (we tested on Indigo)
- Please follow the instructions in wiki to install freenect
Usage
open ROS master
roscore
run freenect for vision input
roslaunch freenect_launch freenect.launch
run grasp node
rosrun ros_deep_grasp grasp.py --net res50 --dataset grasp
Acknowledgement
Thanks to Anina Mu and all ORS18-19 team members (Joshua, Nicholas and Jianni) to develop this wrapper.