First, great job, the algorithm is great.
I have been wondering for a few days about the parameters related to the gripper, I use a Robotiq 3 Finger Gripper.
The system works quite well but some generated poses are not correct. In light of this I am here to ask you for a detailed explanation of the parameters.

This is the portion of the code I am referring to:

This is what I assume these parameters are:

1 FingerWidth
2 HandOuterDiameter
3 HandDepth
4 InitBite (not sure)
5 HandHeight (not sure)

Can I get some feedback on that? Thank you in advance for the support.

I use ubuntu 12.04 64bits with ROS Hydro.

I run:
sudo apt-get install liblapack-dev
git clone https://github.com/atenpas/agile_grasp.git -b hydro
rospack profile

when I catkin_make, it shows errors:

...
[ 74%] Built target handle_search
Scanning dependencies of target localization
CMakeFiles/test_taubin_fitting.dir/src/tests/test_taubin.cpp.o: In function main': test_taubin.cpp:(.text.startup+0x16b): undefined reference topcl::search::Searchpcl::PointXYZ::Search(std::basic_string<char, std::char_traits, std::allocator > const&, bool)'
CMakeFiles/test_taubin_fitting.dir/src/tests/test_taubin.cpp.o:(.rodata._ZTVN3pcl6search17OrganizedNeighborINS_8PointXYZEEE[vtable for pcl::search::OrganizedNeighborpcl::PointXYZ]+0x30): undefined reference to pcl::search::Search<pcl::PointXYZ>::getSortedResults()' CMakeFiles/test_taubin_fitting.dir/src/tests/test_taubin.cpp.o:(.rodata._ZTVN3pcl6search6SearchINS_8PointXYZEEE[vtable for pcl::search::Search<pcl::PointXYZ>]+0x30): undefined reference topcl::search::Searchpcl::PointXYZ::getSortedResults()'
collect2: ld returned 1 exit status
make[2]: *** [/home/ira/code/ros_hydro/devel/lib/agile_grasp/test_taubin_fitting] Error 1
make[1]: *** [download/agile_grasp/CMakeFiles/test_taubin_fitting.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/hands_test.dir/src/tests/hands_test.cpp.o: In function main': hands_test.cpp:(.text.startup+0x16b): undefined reference topcl::search::Searchpcl::PointXYZ::Search(std::basic_string<char, std::char_traits, std::allocator > const&, bool)'
CMakeFiles/hands_test.dir/src/tests/hands_test.cpp.o:(.rodata._ZTVN3pcl6search17OrganizedNeighborINS_8PointXYZEEE[vtable for pcl::search::OrganizedNeighborpcl::PointXYZ]+0x30): undefined reference to pcl::search::Search<pcl::PointXYZ>::getSortedResults()' CMakeFiles/hands_test.dir/src/tests/hands_test.cpp.o:(.rodata._ZTVN3pcl6search6SearchINS_8PointXYZEEE[vtable for pcl::search::Search<pcl::PointXYZ>]+0x30): undefined reference topcl::search::Searchpcl::PointXYZ::getSortedResults()'
collect2: ld returned 1 exit status
make[2]: *** [/home/ira/code/ros_hydro/devel/lib/agile_grasp/hands_test] Error 1
make[1]: *** [download/agile_grasp/CMakeFiles/hands_test.dir/all] Error 2
[ 76%] Building CXX object download/agile_grasp/CMakeFiles/localization.dir/src/agile_grasp/localization.cpp.o
Linking CXX shared library /home/ira/code/ros_hydro/devel/lib/liblocalization.so
[ 76%] Built target localization
make: *** [all] Error 2
Invoking "make" failed
ira@ira:~/code/ros_hydro$

It's looks like the PCL linking problem.
How to solve it?
Thank you~

I'm using a forked version of this repo (with ROS stripped off) and recently tried to get things working on Ubuntu 18.04. Initially, things would crash with some cryptic eigen related errors, but after some effort debugging, I think I have things working and wanted to share my fixes in case someone else was having similar issues.

Basically there were some dimension mismatches in several places and also an index out of bounds issue. I have no idea why things work on older version on Ubuntu (I've been using 14.04 until now), but maybe it's because of Eigen changes?

The biggest issue was in handle_search.cpp line 103 "if (inliersi < 0)". Here, inliers[i] is a Vector2d so the "(2)" index is out of bounds and causes things to crash. I changed this to "if (inliersi < 0)" but I'm not 100% this is correct. Can anyone verify that this is the correct fix here?

You can see my full set of changes here: https://github.com/evankrause/agile_grasp/tree/ubuntu-18.04

Just follow the wiki tutorial I use the methon A
Method A
Preparations:
Each point cloud file needs to be called obji.pcd where i goes from 0 to num_files
pcd_directory is the location of the directory plus the root name of the training files, e.g., /home/userA/data/obj.
Training:
$ rosrun agile_grasp train_svm num_files pcd_directory/obj svm_filename [plots_hands] [num_samples] [num_threads]

So I write the command in terminal as follows:
rosrun agile_grasp train_svm 100 /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj svm_cube false 200 12

the pcd files directory is /home/xkx/agile_grasp_ws/src/agile_grasp-master/data
this is my pcd data and their names

However, I get some of the problem:
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj78 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj78l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj78l_reg.pcd
78) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj79 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj79l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj79l_reg.pcd
79) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj80 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj80l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj80l_reg.pcd
80) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj81 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj81l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj81l_reg.pcd
81) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj82 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj82l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj82l_reg.pcd
82) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj83 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj83l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj83l_reg.pcd
83) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj84 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj84l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj84l_reg.pcd
84) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj85 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj85l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj85l_reg.pcd
85) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj86 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj86l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj86l_reg.pcd
86) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj87 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj87l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj87l_reg.pcd
87) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj88 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj88l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj88l_reg.pcd
88) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj89 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj89l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj89l_reg.pcd
89) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj90 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj90l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj90l_reg.pcd
90) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj91 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj91l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj91l_reg.pcd
91) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj92 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj92l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj92l_reg.pcd
92) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj93 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj93l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj93l_reg.pcd
93) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj94 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj94l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj94l_reg.pcd
94) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj95 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj95l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj95l_reg.pcd
95) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj96 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj96l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj96l_reg.pcd
96) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj97 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj97l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj97l_reg.pcd
97) # hands: 0
Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj98 ...
[pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj98l_reg.pcd'.
Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj98l_reg.pcd
98) # hands: 0
Training the SVM ...
Converting 0 training examples (grasps) to images
OpenCV Error: Bad argument (train data must be floating-point matrix) in cvCheckTrainData, file /build/buildd/opencv-2.4.8+dfsg1/modules/ml/src/inner_functions.cpp, line 857
terminate called after throwing an instance of 'cv::Exception'
what(): /build/buildd/opencv-2.4.8+dfsg1/modules/ml/src/inner_functions.cpp:857: error: (-5) train data must be floating-point matrix in function cvCheckTrainData

How can I solve this problem??
thx!!!

Hello,
I use realsense d435 to test the agile_grasp.
The launch file: single_camera_grasps.launch tell me the I need publish the /camera/depth_registered/points and /camera_rgb_optical_frame.

The topic published by realsense is shown in the image below:

I don't know the difference between /camera/depth_registered/points and /camera_rgb_optical_frame

How can I remap the topic published by realsense to the topic which single_camera_grasps.launch need.

First of all, great work! I have successfully implemented and used your package in several projects of mine on ROS Indigo.
Lately I have ported all my files to Kinetic and after a few mishaps with your package, it finally compiled.
The problem, however, is that it keeps finding 0 robot hand poses. I have tried changing the workspace (but the number of points is still the same so that is not the issue) and increased the number of samples, but the result does not vary.
I have tried it on an continuously updated pointcloud and on a .pcd file. Both cases with a single segmented object and a full environments pointcloud. No luck in any case.
The only interesting thing I saw, was that in a few occasions, the first iteration of the agile_grasp gave back 1 or 2 found hands, but all the following results were always 0.
Any thoughts on what could be causing this?
Kind regards

EDIT. Doing a clean reinstall and playing with the gripper parameters solved partly the problem. I am now getting around 500 robot hands, 45 antipodal grasps and 2 final handles for a pointcloud of a small cup. However I still feel like I used to get many more handles before. Additionally, most of the handles have a very similar orientation, even though the cup is cylindrical and results should be found all around it.

Hi, I tried to build agile_grasp 0.7.1 for Hydro on 64-bits Ubtuntu 12.04. However, it seems that there are some problems in grasp_localizer.h mainly related to ‘agile_grasp’ does not name a type.

I checked grasp_localizer.h and found that the problem might occur from the headers below to be included in grasp_localizer.h. I cannot find these header files in the package.

#include <agile_grasp/CloudSized.h>
#include <agile_grasp/Grasp.h>
#include <agile_grasp/Grasps.h>
#include <agile_grasp/grasp_hypothesis.h>
#include <agile_grasp/handle.h>
#include <agile_grasp/localization.h>
#include <agile_grasp/rotating_hand.h>

Here's the error message I got from catkin_make:

[ 96%] [ 96%] [ 98%] Building CXX object agile_grasp/CMakeFiles/grasp_localizer.dir/src/agile_grasp/grasp_localizer.cpp.o
Built target antipodal_test
Built target test_svm
Built target learning_test
In file included from /home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:1:0:
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:133:35: error: ‘agile_grasp’ does not name a type
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:133:58: error: expected unqualified-id before ‘&’ token
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:133:58: error: expected ‘)’ before ‘&’ token
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:133:48: error: expected ‘;’ at end of member declaration
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:133:60: error: ISO C++ forbids declaration of ‘msg’ with no type [-fpermissive]
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:133:60: error: expected ‘;’ at end of member declaration
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:133:63: error: expected unqualified-id before ‘)’ token
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:140:3: error: ‘agile_grasp’ does not name a type
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:147:3: error: ‘agile_grasp’ does not name a type
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:153:3: error: ‘agile_grasp’ does not name a type
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:159:3: error: ‘agile_grasp’ does not name a type
/home/rosfuerte/code/ros_hydro/src/agile_grasp/include/agile_grasp/grasp_localizer.h:165:3: error: ‘agile_grasp’ does not name a type
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp: In constructor ‘GraspLocalizer::GraspLocalizer(ros::NodeHandle&, const string&, const string&, int, const string&, const GraspLocalizer::Parameters&)’:
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:4:1: error: uninitialized reference member ‘GraspLocalizer::msg’ [-fpermissive]
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:13:90: error: no matching function for call to ‘ros::NodeHandle::subscribe(const string&, int, void (GraspLocalizer::*)(...), GraspLocalizer* const)’
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:13:90: note: candidates are:
/opt/ros/hydro/include/ros/node_handle.h:379:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), T*, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:390:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M)const, T*, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:438:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const MReq>&), T*, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:448:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const MReq>&)const, T*, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:498:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), const boost::shared_ptr<U>&, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:509:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M)const, const boost::shared_ptr<U>&, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:559:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const MReq>&), const boost::shared_ptr<U>&, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:570:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const MReq>&)const, const boost::shared_ptr<U>&, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:618:14: note: template<class M> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (*)(M), const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:663:14: note: template<class M> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (*)(const boost::shared_ptr<const M>&), const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:706:14: note: template<class M> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, const boost::function<void(const boost::shared_ptr<const M>&)>&, const VoidConstPtr&, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:752:14: note: template<class M, class C> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, const boost::function<void(C)>&, const VoidConstPtr&, const ros::TransportHints&)
/opt/ros/hydro/include/ros/node_handle.h:785:14: note: ros::Subscriber ros::NodeHandle::subscribe(ros::SubscribeOptions&)
/opt/ros/hydro/include/ros/node_handle.h:785:14: note:   candidate expects 1 argument, 4 provided
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:18:32: error: ‘agile_grasp’ was not declared in this scope
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:18:22: error: parse error in template argument list
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:18:65: error: no matching function for call to ‘ros::NodeHandle::advertise(const char [7], int)’
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:18:65: note: candidates are:
/opt/ros/hydro/include/ros/node_handle.h:236:15: note: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, bool)
/opt/ros/hydro/include/ros/node_handle.h:300:13: note: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, const SubscriberStatusCallback&, const SubscriberStatusCallback&, const VoidConstPtr&, bool)
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp: At global scope:
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:59:49: error: ‘agile_grasp’ does not name a type
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:59:72: error: expected unqualified-id before ‘&’ token
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:59:72: error: expected ‘)’ before ‘&’ token
/home/rosfuerte/code/ros_hydro/src/agile_grasp/src/agile_grasp/grasp_localizer.cpp:59:72: error: expected initializer before ‘&’ token
make[2]: *** [agile_grasp/CMakeFiles/grasp_localizer.dir/src/agile_grasp/grasp_localizer.cpp.o] Error 1
make[1]: *** [agile_grasp/CMakeFiles/grasp_localizer.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

Any suggestion on this issue? Maybe these header files should be put in the include/agile_grasp directory?
Thx.

I want to learn the package agile_grasp,can you give me SVM training data?
thank you very much!
Best Regards!

hitcww

Harbin Institute of Technology | Master

E：[email protected]

I have a ur5 robot,can I use agile_grasp in it.Then when training svm,what's the means of files[i]+l_reg.pcd and files[i]+r_reg.pcd? For a cube,how much pcd should I use for svm-training?
Thank you very much!

In the demo it is a two finger gripper and in the paper it also uses the two-finger gripper as a illustration. So does that mean the agile_grasp package works only for a two-finger gripper? What if I want to use a suction pad to perform the grasp, can I still use this package?

Many thanks!

Hi, thank you for your work.
I am just wondering the the definition of workspace in launch file (e.g., single_camera_grasps.launch). It takes 6 numbers without explanations. It seems the dimensions but is difficult to guess.

From 6.2 Method B, http://wiki.ros.org/agile_grasp,
and a workspace.txt that lists the workspace dimensions for each file.
I can't understand workspace.txt file, do you have any example files for this?

My last question is that there is camera pose in the launch file. Is it wrt torso, or another frame?
Thank you.

Follow the tutorial to operate a pcd file that has the following display but does not display any images and crawls.