mars_ros

mars_behavior

This package includes a simple python interface to:

• Run/switch between ROS controllers using the TaskInterface
• Command the end-effector by defining cartesian pose goals for the end-effector with the ArmInterface
• Control the WSG 32 gripper and Panda gripper with the GripperInterface
• Simplify coordinate frame conversions for a robot arm using the TFInterface
• Run object registration algorithms using the PerceptionInterface

Includes high-level behaviors that implement the above interfaces

mars_config

Houses all yaml config files for perception, gelsight, gripper, detection components of the system

mars_control

Includes custom ROS controller definitions for specific tasks and a planning interface with MoveIt

mars_launch

Houses all the main launch files such as robot.launch, robots.launch for a bring-up of the system

mars_msgs

Houses all the custom ROS msgs, srv, action definitions

mars_panda

Includes all the forks of the franka_description, panda_moveit_config, franka_control, and franka_hw for the lab's single arm and dual arm setups

mars_perception

• src/registration_server.cpp: Point set registration for objects and scenes using ICP and extensibility to other algorithms
• src/mars_perception: Python package with utility functions, ML training scripts,
• launch/cameras.launch: Realsense2 camera bringup launch file
• launch/detection.launch: Object segmentation inference launch file
• scripts/depth_mask_node: Convenience node to mask color/depth images and project to point cloud
• Point cloud processing node

mars_sim

• Sim itself is depreciated
• nist_board_gazebo: Includes NIST task board stl assets used for model-based point set registration

third_party

• detectron2_ros: Runs detectron2 inference model and sub/pubs in ROS
• gelsight-ros: Gelsight ROS interface
• moveit
• wsg50-ros-pkg: custom fork of the wsg gripper ros interface