Hi Yun,
You can attach objects to parts of the robot body using the AttachedCollisionObject message in the mapping_msgs package. The topic to broadcast this message on is the "attached_collision_object" topic. The message lets you specify the object shape, the link that the object will be attached to, the pose relative to this link and a set of links with with collisions will be disabled for the object. Have a look at the message file, the comments in the message should help you out.
We are in the process of putting up tutorials for this with example code and I will send out an email with a pointer to a tutorial as soon as we get one up on the Wiki.
Regards,
Sachin
Hi,
I'm working on an project of controlling PR2 to grasp objects. I'm new to ROS and got several stupid questions,
1) after grasping, when I use planner to move the arm, it always returned the state is in collision. I felt that I probably should attach the object to the robot to avoid obstacle detection for it. But I don't know how. Is there any service or simple way to do this?
2) I read tutorials about moving one arm, but I'm wondering if I can control two arms simultaneously so that they can move together?
Thanks!
Best,
Yun
--
Yun Jiang
Dept. Computer Science,
School of Engineering,
Cornell University
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