Hi Felix, This should be fixed in motion_planning_common 0.3.5 (thanks to Gil). Can you try it out and let us know. Thanks, Sachin On Wed, Feb 2, 2011 at 4:09 AM, "Felix Meßmer" wrote: > Dear community, > > there is another feature in the unstable/diamondback version of the arm_navigation stack that I have problems with: > the multi_dof_joints parameter-option! > > When I use our old launch file (cob_arm_navigation/cob3_planning_environment.launch) that loads the collision_checks and planning_groups paramters to the parameter server, I get the following error message from both the trajectory_filter and the ompl_planning node: > > [ WARN] [1296646033.585385464]: No multi dof joints specified, including root to world conversion > [ WARN] [1296646033.585623806]: Can't do anything without a root transform > > I've adapted the planning_environment.launch file to also load the multi_dof_joints parameter (looking at the according pr2-config files). > But now planning reqest as in move_arm_simple_pose goal fail due to the following error message from the environment_server node and the move_arm action server node: > > [ WARN] [1296647088.916018038, 830.563000000]: No joint with name floating_trans_x > [ WARN] [1296647088.916446633, 830.563000000]: Joint limits violated. > > [ERROR] [1296647088.925356070, 830.563000000]: Will not plan to requested joint goal since it violates joint limits constraints > > > The multi_dof_joints.yaml file I use looks like this: > > multi_dof_joints: >    - name: base_joint >      type: Floating >      parent_frame_id: base_footprint #odom_combined >       child_frame_id: base_footprint > > > > > I guess the multi_dof_joint parameter is meant to introduce a joint that stands for the moving platform with 3 DoFs (trans_x, trans_y, rot_z) > Does that mean that if the pose goal is specified in a world/global coordinate system, the planner also considers and calculates a possibly necessary platform motion to reach the specied goal? > > Is there a parameter (use_multidof?) for the environment_server to deactivate multi_dof_joints? > OR: > What else do I have to add to use that feature? > > > I hope you can give me a short explanation on that. Thanks a lot! > > > > Regards, > Felix > ___________________________________________________________ > WEB.DE DSL Doppel-Flat ab 19,99 €/mtl.! Jetzt mit > gratis Handy-Flat! http://produkte.web.de/go/DSL_Doppel_Flatrate/2 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Sachin Chitta Research Scientist Willow Garage