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tutorials:demo:fetch_and_place [2020/06/26 10:52] – Added motivation section gkazhoyatutorials:demo:fetch_and_place [2020/10/05 11:41] – [Zero prerequisites demo tutorial: Simple fetch and place] gkazhoya
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 This tutorial is from the "Demo Tutorials" category, which assumes no prior knowledge of Linux, ROS, Emacs, Lisp or robotics. This tutorial is from the "Demo Tutorials" category, which assumes no prior knowledge of Linux, ROS, Emacs, Lisp or robotics.
  
 +Here is a link to a video that walks through the first part of the tutorial with voice explanations:
  
 +https://seafile.zfn.uni-bremen.de/f/c057cd48e1244d7997b8/
 ===== Motivation ===== ===== Motivation =====
  
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 The tutorial: The tutorial:
   - Gives an intuition of what knowledge does the robot need (and how much knowledge) to execute even a simple fetch and place, e.g., robot needs to answer questions such as "where should I stand?", "which grasp pose should I use?", etc.   - Gives an intuition of what knowledge does the robot need (and how much knowledge) to execute even a simple fetch and place, e.g., robot needs to answer questions such as "where should I stand?", "which grasp pose should I use?", etc.
-  - Teaches how to call existing actions from the CRAM framework, i.e. how to use designators (but not program new ones). 
   - Shows how many different things can go wrong, and teaches writing simple failure handling strategies.   - Shows how many different things can go wrong, and teaches writing simple failure handling strategies.
 +  - Teaches how to call existing actions from the CRAM framework, i.e. how to use designators (but not program new ones).
 +  
  
 ===== Setting Up ===== ===== Setting Up =====
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 (defparameter *base-pose-near-counter* (defparameter *base-pose-near-counter*
-  (make-pose "base_footprint" '((-0.150d0 2.0d0 0.0d0) (0.0d0 0.0d0 -1.0d0 0.0d0))))+  (make-pose "map" '((-0.150d0 2.0d0 0.0d0) (0.0d0 0.0d0 -1.0d0 0.0d0))))
 </code> </code>
  
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 (defparameter *base-pose-near-counter* (defparameter *base-pose-near-counter*
-  (make-pose "base_footprint" '((-0.15 2 0) (0 0 -1 0))))+  (make-pose "map" '((-0.15 2 0) (0 0 -1 0))))
    
 (defparameter *final-object-destination* (defparameter *final-object-destination*