This is a C++ library for grasping flat objects from support surfaces. It implements the work presented in Grasping flat object by exploiting contact with the environment, Iason Sarantopoulos and Zoe Doulgeri, submitted to IEEE Transactions in Robotics [1].

Installation

Dependencies

Build from source

Right now the library is under development and in order to install it you need to clone the source code from github. Clone it inside your ROS workspace. Install additional dependencies by using rosdep:

 rosdep install --from-paths src/ --ignore-src --rosdistro indigo -y

Finally, build the library with catkin_make.

Usage

In order to use the library start with the Getting Started page.