Adolfo, What's causing your dependency on pr2_controller_manager? Just curious, -Stu 2010/5/21 Adolfo Rodríguez Tsouroukdissian : > > > On Fri, May 21, 2010 at 10:49 AM, Ben Rudder wrote: >> >> Thanks Radu. >> >> Yes, motion planning, towards the goal of grasping etc. Been at it for a >> while, trying to get the stack to work with our robot, pr2 is embedded into >> everything haha. So i thought I'd take a break and try to get something >> related but seemingly more generic up and running, and of course I chose a >> package that was essentially dead! Lucky me :) >> I'll let you know how it goes. > > I've been doing something similar in the last few days, that is, creating > packages (no code, only launch and config files) to make one of our robots > use the arm_navigation stack in simulation. Although it is true that > arm_navigation could use some refactoring, I have to say that getting things > up & running has been faster than expected. > Bear in mind that my setup is simple, since I have not yet integrated > point-cloud sources (except for a dummy node that publishes a test cloud), > but the use of pr2-specific packages has been so far minimal: I believe we > only depend on pr2_gazebo_plugins and pr2_controller_manager, which we might > eventually no longer use. > I've been collecting a list of things that in my opinion would simplify the > process of moving to arm_navigation, which I plan to submit as enhancement > tickets in the near future. > @Ben: I'd be happy to help out if you have questions specific to getting > your robot working with arm_navigation. > > Best, > > Adolfo > > >> >> Ben >> >> On Thu, May 20, 2010 at 7:43 PM, Radu Bogdan Rusu >> wrote: >>> >>> Ben, >>> >>> As Gil said, we're in the process of converting the code and the >>> underlying structures to "something better" (tm). :) >>> We're working on the details right now, but it looks like this might >>> happen within the next few weeks, so we'll keep you >>> posted. In the meantime, try using the current code and let us know if >>> you have any problems with it. Is your >>> application motion planning or something else? >>> >>> Cheers, >>> Radu. >>> >>> On 05/20/2010 08:01 AM, Gil Jones wrote: >>> > Hi Ben, >>> > >>> > You've just hit a package that needs some cleaning out.  The only >>> > implementation of the collision map that we are currently maintaining >>> > is >>> > collision_map_self_occ, which can do self-filtering and also maintain >>> > collision points that are currently occluded by part of the robot. >>> > Unfortunately the wiki documentation on this node is not really >>> > up-to-date and the launch files and tests in this directory aren't >>> > being >>> > maintained - we launch everything out of pr2_arm_navigation and have >>> > the >>> > tests in arm_navigation_tests.  We also have major refactoring plans >>> > for >>> > the node in the near future.  In the meantime, however, >>> > pr2_arm_navigation has up-to-date launch files for this node - that's >>> > the reason you may not have encountered any problems in the tutorials. >>> > If you look in pr2_arm_navigation/pr2_arm_navigation_perception/launch >>> > you'll see collision_map_self_occ.launch.  This loads a couple of yaml >>> > files for the links to use in self-filtering and the sources of the >>> > collision map. Let me know if you have any questions - we will be >>> > cleaning and documenting this soon. >>> > >>> > -Gil >>> > >>> > -- >>> > E. Gil Jones (gjones@willowgarage.com ) >>> > Research Engineer >>> > Willow Garage, Inc. >>> > 68 Willow Road >>> > Menlo Park, CA 94025 >>> > 650.475.9772 >>> > >>> > >>> > On Thu, May 20, 2010 at 7:48 AM, Ben Rudder >> > > wrote: >>> > >>> >     Hi all >>> > >>> >     I am trying to run boxturtle's collision_map_test.launch >>> >     (collision_environment/collision_map/) and getting type errors and >>> >     hanging, >>> > >>> >       [ INFO] 5.397000000: Maintaining occlusion map in frame >>> >     'base_link', with origin at (1.100000, 0.000000, 0.000000) and >>> >     dimension (1.000000, 1.500000, 2.000000), resolution of 0.020000; >>> >     sensor is in frame '', fixed fame is 'base_link'. >>> >     [ WARN] 5.407000000: Self see links need to be an array >>> >     [ WARN] 5.425000000: No robot links will be checked for self mask >>> >     [ WARN] 5.444000000: No links specified for self filtering. >>> > >>> >     (nothing happens afterwards...) >>> > >>> >     There's something simple going wrong, but I can't figure out how to >>> >     pass an array as a parameter in xml for launch file to fix it? >>> >     Newbie xml user I guess, but I also can't find it through >>> > searching. >>> >     This test file isn't correct and the other launch file >>> >     (collision_map.launch) has a broken link? >>> > >>> >     ERROR: cannot launch node of type >>> >     [collision_map/collision_map_buffer_node]: Cannot locate node of >>> >     type [collision_map_buffer_node] in package [collision_map] >>> > >>> >     despite it exisiting in the same folder. >>> >     I'm not sure how I haven't seen this while using the move_arm >>> >     tutorials... >>> > >>> >     Any Ideas/similar experiences? >>> > >>> >     Ben >>> > >>> > >>> >     _______________________________________________ >>> >     ros-users mailing list >>> >     ros-users@code.ros.org >>> >     https://code.ros.org/mailman/listinfo/ros-users >>> > >>> > >>> > >>> > >>> > _______________________________________________ >>> > ros-users mailing list >>> > ros-users@code.ros.org >>> > https://code.ros.org/mailman/listinfo/ros-users >>> >>> -- >>> | Radu Bogdan Rusu | http://rbrusu.com/ >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > > -- > Adolfo Rodríguez Tsouroukdissian, Ph. D. > > Robotics engineer > PAL ROBOTICS S.L > http://www.pal-robotics.com > Tel. +34.93.414.53.47 > Fax.+34.93.209.11.09 > AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden > contener información privilegiada y/o confidencial que está dirigida > exclusivamente a su destinatario. Si usted recibe este mensaje y no es el > destinatario indicado, o el empleado encargado de su entrega a dicha > persona, por favor, notifíquelo inmediatamente y remita el mensaje original > a la dirección de correo electrónico indicada. 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