Hi Ugo,
Setting self.perception_running = 0 in ik_utilities.py is meant to
shunt you to non-collision-aware IK (arm_kinematics is
non-collision-aware).  You need to be using a collision-aware IK
service.  You don't need to have a constraint-aware service, just a
collision-aware one--you can just ignore the constraint fields of the
service call.  Gil can probably help you get a collision-aware IK
service running, if you need help with that.

-Kaijen


On Fri, Feb 18, 2011 at 6:56 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:
> Ok, so I'm still stuck with my problem of undetected collision between the
> attached object and the environment.
>
> I have one question:
> Is this collision computed by the ik_constrained_planner? I had to set
> "self.perception_running = 0" in ik_utilities.py, as I don't have an
> ik_constrained_planner: I'm using the generic arm_kinematics module with my
> robot. Would this explain the behavior I have?
>
> Cheers,
>
> Ugo
>
>
> On Wed, Feb 16, 2011 at 11:47 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:
>>
>> Thanks a lot !! This was the node I was still missing!  I now have a first
>> draft of the manipulation stack for our hand / arm (with still lots of
>> improvement needed, but I'm already able to "theoretically" pick up and
>> place a coke can).
>>
>> Thank you all for your answers.
>>
>> Cheers,
>>
>> Ugo
>>
>>
>> On Tue, Feb 15, 2011 at 7:51 PM, Gil Jones <gjones@willowgarage.com>
>> wrote:
>>>
>>> Hi Ugo,
>>>
>>> To see what the current state of the environment server is you have to
>>> run an another program in the planning environment package.  Here's the
>>> contents of the launch file in
>>> planning_environment/launch/display_planner_collision_model.launch:
>>>
>>> <launch>
>>>   <node pkg="planning_environment"
>>> name="display_planner_collision_model_environment_server"
>>> type="display_planner_collision_model" respawn="false" output="screen">
>>>     <param name="skip_collision_map" type="bool" value="false" />
>>>     <param name="prefix" type="string" value="/environment_server" />
>>>   </node>
>>> </launch>
>>>
>>>
>>> This node calls services in the environment_server and broadcasts markers
>>> with the objects.  You should see a marker topic after you launch this, and
>>> a collision map topic showing the state of the collision map the environment
>>> server uses.
>>>
>>> Are you sure you are processing the kinect data through the appropriate
>>> set of self filters? You need to be filtering the robot and the attached
>>> objects out of the point cloud in order for the grasping pipeline to
>>> function.  I'm attaching a couple very experimental launch files that should
>>> process the kinect data through the required pipeline to produce robot-free
>>> collision maps.
>>>
>>> Let me know how it goes.
>>>
>>> -Gil
>>>
>>> --
>>> E. Gil Jones (gjones@willowgarage.com)
>>> Research Engineer
>>> Willow Garage, Inc.
>>> 68 Willow Road
>>> Menlo Park, CA 94025
>>> 650.475.9772
>>>
>>>
>>> On Mon, Feb 14, 2011 at 9:34 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:
>>>>
>>>> Hi,
>>>>
>>>> Thanks for your answer. I think that I still haven't figured out how to
>>>> use the environment server properly. I still can't view the attached object.
>>>>
>>>> I pasted the rostopic info for my environment server at the end [1]. If
>>>> you have any hints to what may be the problem, they're welcome!
>>>>
>>>> Cheers,
>>>>
>>>> Ugo
>>>>
>>>>
>>>>
>>>> [1]
>>>>  rosnode info /environment_server
>>>>
>>>> --------------------------------------------------------------------------------
>>>> Node [/environment_server]
>>>> Publications:
>>>>  * /environment_server/state_validity
>>>> [motion_planning_msgs/DisplayTrajectory]
>>>>  * /environment_server/allowed_contact_regions_array
>>>> [visualization_msgs/MarkerArray]
>>>>  * /rosout [rosgraph_msgs/Log]
>>>>  * /environment_server/collision_pose
>>>> [motion_planning_msgs/DisplayTrajectory]
>>>>  * /environment_server_contact_markers [visualization_msgs/Marker]
>>>>
>>>> Subscriptions:
>>>>  * /collision_object [mapping_msgs/CollisionObject]
>>>>  * /tf [tf/tfMessage]
>>>>  * /collision_map_occ [mapping_msgs/CollisionMap]
>>>>  * /attached_collision_object [mapping_msgs/AttachedCollisionObject]
>>>>  * /collision_map_occ_update [mapping_msgs/CollisionMap]
>>>>  * /joint_states [sensor_msgs/JointState]
>>>>
>>>> Services:
>>>>  * /environment_server/tf_frames
>>>>  * /environment_server/get_state_validity
>>>>  * /environment_server/get_current_allowed_collision_matrix
>>>>  * /environment_server/set_logger_level
>>>>  * /environment_server/get_environment_safety
>>>>  * /environment_server/revert_allowed_collisions
>>>>  * /environment_server/get_joints_in_group
>>>>  * /environment_server/get_loggers
>>>>  * /environment_server/get_group_info
>>>>  * /environment_server/get_execution_safety
>>>>  * /environment_server/get_trajectory_validity
>>>>  * /environment_server/get_collision_objects
>>>>  * /environment_server/get_robot_state
>>>>  * /environment_server/set_allowed_collisions
>>>>
>>>>
>>>> On Fri, Feb 11, 2011 at 9:32 PM, Kaijen Hsiao <hsiao@willowgarage.com>
>>>> wrote:
>>>>>
>>>>> Hi Ugo,
>>>>>
>>>>> On Mon, Feb 7, 2011 at 10:20 AM, Ugo Cupcic <ugo@shadowrobot.com>
>>>>> wrote:
>>>>> > I'm not sure on which topic I should subscribe to visualize the
>>>>> > attached_object in rviz as well. (I looked at the tf but couldn't see
>>>>> > any tf
>>>>> > moving with the model, once the hand has grasped the can).
>>>>>
>>>>> Just noticed this last bit in your last email.  Hopefully you've
>>>>> figured it out already, but in case you haven't, you visualize
>>>>> attached objects the same way you visualize all the collision models
>>>>> that you've added to the collision environment.  In our setup, the
>>>>> topic is /collision_model_markers/environment_server but yours may
>>>>> vary if you've changed your setup significantly.  There's no separate
>>>>> tf frame associated with the object being broadcast.
>>>>>
>>>>> -Kaijen
>>>>> _______________________________________________
>>>>> ros-users mailing list
>>>>> ros-users@code.ros.org
>>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
>>>>
>>>>
>>>> --
>>>> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
>>>> Software Engineer | 251 Liverpool Road |
>>>> need a Hand? | London N1 1LX | +44 20 7700 2487
>>>> http://www.shadowrobot.com/hand/ @shadowrobot
>>>>
>>>>
>>>> _______________________________________________
>>>> 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
>>>
>>
>>
>>
>> --
>> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
>> Software Engineer | 251 Liverpool Road |
>> need a Hand? | London N1 1LX | +44 20 7700 2487
>> http://www.shadowrobot.com/hand/ @shadowrobot
>>
>
>
>
> --
> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
> Software Engineer | 251 Liverpool Road |
> need a Hand? | London N1 1LX | +44 20 7700 2487
> http://www.shadowrobot.com/hand/ @shadowrobot
>
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>