Hi Ben, You've just hit a package that needs some cleaning out. The only implementation of the collision map that we are currently maintaining is collision_map_self_occ, which can do self-filtering and also maintain collision points that are currently occluded by part of the robot. Unfortunately the wiki documentation on this node is not really up-to-date and the launch files and tests in this directory aren't being maintained - we launch everything out of pr2_arm_navigation and have the tests in arm_navigation_tests. We also have major refactoring plans for the node in the near future. In the meantime, however, pr2_arm_navigation has up-to-date launch files for this node - that's the reason you may not have encountered any problems in the tutorials. If you look in pr2_arm_navigation/pr2_arm_navigation_perception/launch you'll see collision_map_self_occ.launch. This loads a couple of yaml files for the links to use in self-filtering and the sources of the collision map. Let me know if you have any questions - we will be cleaning and documenting this soon. -Gil -- E. Gil Jones (gjones@willowgarage.com) Research Engineer Willow Garage, Inc. 68 Willow Road Menlo Park, CA 94025 650.475.9772 On Thu, May 20, 2010 at 7:48 AM, Ben Rudder wrote: > Hi all > > I am trying to run boxturtle's collision_map_test.launch > (collision_environment/collision_map/) and getting type errors and hanging, > > [ INFO] 5.397000000: Maintaining occlusion map in frame 'base_link', with > origin at (1.100000, 0.000000, 0.000000) and dimension (1.000000, 1.500000, > 2.000000), resolution of 0.020000; sensor is in frame '', fixed fame is > 'base_link'. > [ WARN] 5.407000000: Self see links need to be an array > [ WARN] 5.425000000: No robot links will be checked for self mask > [ WARN] 5.444000000: No links specified for self filtering. > > (nothing happens afterwards...) > > There's something simple going wrong, but I can't figure out how to pass an > array as a parameter in xml for launch file to fix it? Newbie xml user I > guess, but I also can't find it through searching. This test file isn't > correct and the other launch file (collision_map.launch) has a broken link? > > ERROR: cannot launch node of type > [collision_map/collision_map_buffer_node]: Cannot locate node of type > [collision_map_buffer_node] in package [collision_map] > > despite it exisiting in the same folder. > I'm not sure how I haven't seen this while using the move_arm tutorials... > > Any Ideas/similar experiences? > > Ben > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >