graspgen_ros

ROS2 example nodes and Docker environment for GraspGen

Dependencies

Docker build environments (host machine tested)

• Ubuntu 22.04 PC
  • Docker 27.4.1
  • Docker Compose 2.32.1
• NVIDIA GeForce RTX 3090
  • NVIDIA Driver 550.144.03
  • CUDA v12.4

Installation

1. Install dependency and software

   sudo apt install byobu && git clone git@github.com:UOsaka-Harada-Laboratory/graspgen_ros.git --recursive --depth 1

2. Construct docker image from Dockerfile

   cd graspgen_ros && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel  

Usage with docker

1. Construct docker container from the image built

   docker compose up  

2. Execute a demo script

Antipodal grasp generation for object mesh

./utils/mesh_antipodal_demo.sh

Suction grasp generation for object mesh

./utils/mesh_suction_demo.sh  

Antipodal grasp generation for object point cloud

./utils/pointcloud_antipodal_demo.sh  

Suction grasp generation for object point cloud

./utils/pointcloud_suction_demo.sh  

Author / Contributor

Takuya Kiyokawa

We always welcome collaborators!

License

This software is released under the MIT License, see LICENSE.