Thanks Radu. Yes, motion planning, towards the goal of grasping etc. Been at it for a while, trying to get the stack to work with our robot, pr2 is embedded into everything haha. So i thought I'd take a break and try to get something related but seemingly more generic up and running, and of course I chose a package that was essentially dead! Lucky me :) I'll let you know how it goes. Ben On Thu, May 20, 2010 at 7:43 PM, Radu Bogdan Rusu wrote: > Ben, > > As Gil said, we're in the process of converting the code and the underlying > structures to "something better" (tm). :) > We're working on the details right now, but it looks like this might happen > within the next few weeks, so we'll keep you > posted. In the meantime, try using the current code and let us know if you > have any problems with it. Is your > application motion planning or something else? > > Cheers, > Radu. > > On 05/20/2010 08:01 AM, Gil Jones wrote: > > 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 > > > > > > > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > -- > | Radu Bogdan Rusu | http://rbrusu.com/ > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >