Merge pull request #59 from sharronliu/master

grasp_tutorials: added youtube video for recognition picking

Author: Sharron LIU

README.md

@@ -23,6 +23,16 @@ Refer to ROS2 Grasp Library [Tutorials](http://intel.github.io/ros2_grasp_librar
 * Do hand-eye calibration for a new camera setup
 * Launch the example applications
 
+## Example Applications
+
+### Random Picking (OpenVINO Grasp Detection)
+
+[<img src="grasp_tutorials/_static/images/random_pick.png" width = 50% height = 50% alt="Random Pick with OpenVINO Grasp Detection - Link to Youtube video demo" align=center>](https://www.youtube.com/embed/b4EPvHdidOA)
+
+### Recognition Picking (OpenVINO Grasp Detection + OpenVINO Mask-rcnn Object Segmentation)
+
+[<img src="grasp_tutorials/_static/images/recognize_pick.png" width = 50% height = 50% alt="Recognition Pick with OpenVINO Grasp Detection - Link to Youtube video demo" align=center>](https://www.youtube.com/embed/trIt0uKRXBs)
+
 ## Known Issues
   * Cloud camera failed at "Invalid sizes when resizing a matrix or array" when dealing with XYZRGBA pointcloud from ROS2 Realsenes, tracked as [#6](https://github.com/atenpas/gpg/issues/6) of gpg, [patch](https://github.com/atenpas/gpg/pull/7) under review.
   * 'colcon test' sometimes failed with test suite "tgrasp_ros2", due to ROS2 service request failure issue (reported ros2 examples issue [#228](https://github.com/ros2/examples/issues/228) and detailed discussed in ros2 demo issue [#304](https://github.com/ros2/demos/issues/304))

grasp_tutorials/README.md

@@ -0,0 +1,17 @@
+# ROS2 Grasp Library Tutorials
+
+This tutorials aim to introduce how to
+* Install, build, and launch the ROS2 Grasp Planner and Detector
+* Use launch options to customize in a new workspace
+* Bring up the intelligent visual grasp solution on a new robot
+* Do hand-eye calibration for a new camera setup
+* Launch the example applications
+
+## Build and test this tutorial
+
+```bash
+cd ros2_grasp_library/grasp_tutorials
+sphinx-build . build # check the outputs in the ./build/ folder
+cd ros2_grasp_library/grasp_utils/robot_interface
+doxygen Doxyfile # check the outputs in the ./build/ folder
+```

grasp_tutorials/README.md

@@ -13,6 +13,7 @@ to the robot view with the `Hand-Eye Calibration`_,
 translates the Grasp Pose into `moveit_msgs Grasp <http://docs.ros.org/api/moveit_msgs/html/msg/Grasp.html>`_.
 
 The Robot Interface takes the grasp poses and place poses, to pick and place the object.
+
 Watch this `demo_video <https://www.youtube.com/embed/b4EPvHdidOA?rel=0>`_ to see the output of this application.
 
 .. raw:: html

grasp_tutorials/_static/images/random_pick.png

@@ -7,6 +7,16 @@ Overview
 A simple application demonstrating how to pick up recognized objects with an industrial robot arm.
 The application interact with Grasp Planner and Robot Interface from this Grasp Library.
 
+Comparing against the `random picking <random_pick.html>`_ application, this recognition picking takes the place commands published from the `place_publisher` which specifying the name the object to pick and the position to place.
+
+The Grasp Detector then takes the object segmentation results from the `OpenVINO Mask-rcnn <https://github.com/intel/ros2_openvino_toolkit>`_ to identify the location of the object in the point cloud image and generates grasp poses for that specific object.
+
+Watch this `demo_video <https://www.youtube.com/embed/trIt0uKRXBs?rel=0>`_ to see the output of this application.
+
+.. raw:: html
+
+  <iframe width="700" height="389" src="https://www.youtube.com/embed/trIt0uKRXBs?list=PLxCmGJeiLgoxq3uqcCVSYnSJ9iQk1L9yP" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
 Requirement
 -----------
 

grasp_tutorials/_static/images/recognize_pick.png

@@ -1,20 +1,19 @@
-Welcome to ROS2 Grasp Library Tutorial
-======================================
+Welcome to ROS2 Grasp Library Tutorials
+=======================================
 
-This is a ROS2 intelligent visual grasp solution for advanced industrial usages, with OpenVINO™ grasp detection and MoveIt Grasp Planning.
+ROS2 Grasp Library is a ROS2 intelligent visual grasp solution for advanced industrial usages, with OpenVINO™ grasp detection and MoveIt Grasp Planning. These tutorials aim to help quickly bringup the solution in a new working environment.
 
-Build and test this tutorial
-----------------------------
+The tutorials introduce how to
 
-::
+- Install, build, and launch the ROS2 Grasp Planner and Detector
 
-  cd ros2_grasp_library/grasp_tutorials
+- Use launch options to customize in a new workspace
 
-  sphinx-build . build # check the outputs in the ./build/ folder
+- Bring up the intelligent visual grasp solution on a new robot
 
-  cd ros2_grasp_library/grasp_utils/robot_interface
+- Do hand-eye calibration for a new camera setup
 
-  doxygen Doxyfile # check the outputs in the ./build/ folder
+- Launch the example applications
 
 Contents:
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