work_order.py¶
What is this?¶
Publishes the picking order for each arm of Baxter robot in Amazon Picking Challenge 2015.
Rules¶
- 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)
- Left bins are assigned to left arm, vice versa.
- 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