work_order.py

What is this?

Publishes the picking order for each arm of Baxter robot in Amazon Picking Challenge 2015.

Rules

  1. It abandon bins whose target object is listed below:

  • genuine_joe_plastic_stir_sticks (big & heavy)

  • cheezit_big_original (big & heavy)

  • rolodex_jumbo_pencil_cup (many holes)

  • champion_copper_plus_spark_plug (small)

  • oreo_mega_stuf (heavy)

../../_images/abandon_objects.png

  1. Left bins are assigned to left arm, vice versa.

  2. Center bins are assigned to one arm (left or right).

Subscribing Topic

None.

Publishing Topic

  • ~left_hand, ~right_hand (jsk_2015_05_baxter_apc/WorkOrderArray)

    Picking orders for each arm.

Parameters

  • ~json (type: String, required)

    Path of json file for the challenge.

Example

rosrun jsk_2015_05_baxter_apc work_order.py _json:=$(rospack find jsk_2015_05_baxter_apc)/json/apc2015_layout_1.json