The functionality that I need is already implemented! The response of the GetStateValidity service returns the contact state as a vector of planning_environment_msgs/ContactInformation Apologies for missing this earlier. On Thu, Jan 20, 2011 at 9:23 PM, Advait Jain wrote: > 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 >> >> >