Gil, Thanks for the information. I will give this a method shot and also file a ticket in case you were thinking of adding this functionality in a cleaner way. Advait On Fri, Jan 21, 2011 at 12:31 PM, Gil Jones wrote: > Advait, > > It's true that the service returns a vector of contact information, and you > can ask it for more contacts by changing the parameter > "contacts_to_compute_for_display" in the environment server.  Unfortunately, > this still doesn't do what you want it to - it will return to you an > arbitrary set of contacts on the first link to be found in collision, not a > contact or set of contacts for each link found to be in collision.  The only > way to get something like the desired functionality in the current system is > the following: repeatedly make calls to getStateValidity.  Whenever a link > is found to be in collision, add an OrderedCollisionOperation to your > request that disables collisions between that link and "all", and continue > until no collisions are reported.  This should give you the full set of > links in collision in a given state. > > -Gil > > -- > E. Gil Jones (gjones@willowgarage.com) > Research Engineer > Willow Garage, Inc. > 68 Willow Road > Menlo Park, CA 94025 > 650.475.9772 > > > On Fri, Jan 21, 2011 at 5:39 AM, Advait Jain wrote: >> >> 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 >> >> >> >> >> > >> _______________________________________________ >> 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 > >