ubr1_perception.launch file for Real Pick-and-Place using the UBR-1 Perception Pipeline

edit

hi . i trying to run Real Pick-and-Place using the UBR-1 Perception Pipeline in ros_by_example_vol2_indigo book . i dont have ubr1_perception.launch file and cant find it.

grasping.launch file is:

 <launch>

  <arg name="start_moveit" default="true" />  

  <node pkg="ubr1_grasping" name="basic_grasping_perception" type="basic_grasping_perception" output="screen" >
    <param name="use_debug" value="true" />
  </node>

  <include if="$(arg start_moveit)" file="$(find ubr1_moveit)/launch/move_group.launch">
    <arg name="info" value="true"/>
  </include>

</launch>

i changed name grasping.launch to ubr1_perception.launch and changed like this :

   <launch>

  <arg name="start_moveit" default="true" />  

  <node pkg="ubr1_grasping" name="basic_grasping_perception" type="basic_grasping_perception" output="screen" >
    <param name="use_debug" value="true" />
  </node>

  <include if="$(arg start_moveit)" file="$(find grasping_pi_robot_moveit_config)/launch/move_group.launch">
    <arg name="info" value="true"/>
  </include>

</launch>

is it true ???

when i run roslaunch rbx2_gazebo ubr1_perception.launch i have this error :

 `SimpleSetup: Path simplification took 0.000476 seconds and changed from 3 to 2 states
[ERROR] [1492446542.308562510]: Failed to get camera data in alloted time.
[ERROR] [1492446545.425091338]: Failed to get camera data in alloted time.
[ERROR] [1492446548.542327611]: Failed to get camera data in alloted time.
[ERROR] [1492446551.657528158]: Failed to get camera data in alloted time.

and in rosrun rbx2_arm_nav real_pick_and_place.py --objects i have this error :

`[INFO] [WallTime: 1492446564.129351] Found 0 objects
[ERROR] [WallTime: 1492446564.229989] Nothing to grasp! try again...
`

my ubr1_perception.launch file is true ??