Running grasp execution as in step-by-step tutorial

[gpogorzelski]

Hi, I've been trying to run the step by step tutorial and I stoppped on the grasp part.

1. There is no such file - /workcell_ws/src/easy_manipulation_deployment/grasp_execution/launch/grasp_execution.launch.py
2. There is no such file - /workcell_ws/src/easy_manipulation_deployment/grasp_execution/src/grasp_execution_node.cpp
3. No such rosbag in repo - ros2 bag play src/easy_manipulation_deployment/grasp_planner/rosbag/perception_example/rosbag/rosbag2_2020_09_25-15_54_55_0.db3

Running ros2 launch grasp_execution grasp_execution_launch.py just as is doesn't work either.

I can see some of those files in commits from a couple months ago, but the build is failing. Any chance you can update the documentation and/or provide some hints as to how to make the tutorial work with the master branch?

[tanjpg]

Thanks for pointing it out. We have updated the documentation for (1) and (2) to reflect the proper pathing. These files are now located in the example folder in grasp_execution.

For the rosbag, we have removed that from our repository due to the large file sizes. We will discuss internally to determine the best course forward. For now, maybe you could try hooking up an existing depth camera as direct input, or using the easy_perception_deployment package for machine learning capabilities.

With regards to running the grasp_execution_launch.py, we are currently testing to see what the issue might be.