Hi Gil, I think I should be able to modify planning_environment/src/monitors/planning_monitor.cpp to do what I want. I will attempt this in the next couple of days and then file a feature request ticket. Advait On Thu, Jan 20, 2011 at 9:07 PM, Gil Jones wrote: > Advait, > > Given the current APIs it's not possible.  I was considering modifying the > collision space API to produce this information, and I'll probably get > around to it reasonably soon but it's not a high priority.  Note that you > shouldn't trust the current markers to give you all the links that are in > collision - it will really only give you the first link it found that's in > collision.  If you a file a feature request ticket I'll modify the ticket > when it's ready to go.  And we would of course welcome a patch if you decide > to do it yourself. > > --Gil > > -- > E. Gil Jones (gjones@willowgarage.com) > Research Engineer > Willow Garage, Inc. > 68 Willow Road > Menlo Park, CA 94025 > 650.475.9772 > > > On Thu, Jan 20, 2011 at 5:37 PM, Advait Jain wrote: >> >> I am interested in getting the locations of all the contacts between >> the arm (in its current configuration) and the environment. >> >> The environment_server node of the planning_environment package almost >> does the job but it publishes each contact point as a separate Marker. >> >> It would be really helpful for me if there were a way to get the >> entire collision state in one shot. Is this a possibility? >> >> Thanks again, >> Advait >> _______________________________________________ >> 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 > >