On Fri, May 21, 2010 at 9:11 PM, Stuart Glaser wrote: > Adolfo, > > What's causing your dependency on pr2_controller_manager? > pr2_controller_manager is not a dependency of our arm_navigation-related packages, but the gazebo-related ones. Apologies for the confusion. What I meant to say was that in order to have a minimal arm_navigation setup working, we had to set up a robot description, gazebo bindings (where the pr2_* dependencies are), and the arm_navigation specifics. Adolfo > > Just curious, > -Stu > > 2010/5/21 Adolfo Rodríguez Tsouroukdissian < > adolfo.rodriguez@pal-robotics.com>: > > > > > > On Fri, May 21, 2010 at 10:49 AM, Ben Rudder > wrote: > >> > >> 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. > > > > I've been doing something similar in the last few days, that is, creating > > packages (no code, only launch and config files) to make one of our > robots > > use the arm_navigation stack in simulation. Although it is true that > > arm_navigation could use some refactoring, I have to say that getting > things > > up & running has been faster than expected. > > Bear in mind that my setup is simple, since I have not yet integrated > > point-cloud sources (except for a dummy node that publishes a test > cloud), > > but the use of pr2-specific packages has been so far minimal: I believe > we > > only depend on pr2_gazebo_plugins and pr2_controller_manager, which we > might > > eventually no longer use. > > I've been collecting a list of things that in my opinion would simplify > the > > process of moving to arm_navigation, which I plan to submit as > enhancement > > tickets in the near future. > > @Ben: I'd be happy to help out if you have questions specific to getting > > your robot working with arm_navigation. > > > > Best, > > > > Adolfo > > > > > >> > >> Ben > >> > >> On Thu, May 20, 2010 at 7:43 PM, Radu Bogdan Rusu < > rusu@willowgarage.com> > >> 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 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 > >> > >> > >> _______________________________________________ > >> ros-users mailing list > >> ros-users@code.ros.org > >> https://code.ros.org/mailman/listinfo/ros-users > >> > > > > > > > > -- > > Adolfo Rodríguez Tsouroukdissian, Ph. D. > > > > Robotics engineer > > PAL ROBOTICS S.L > > http://www.pal-robotics.com > > Tel. +34.93.414.53.47 > > Fax.+34.93.209.11.09 > > AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden > > contener información privilegiada y/o confidencial que está dirigida > > exclusivamente a su destinatario. Si usted recibe este mensaje y no es el > > destinatario indicado, o el empleado encargado de su entrega a dicha > > persona, por favor, notifíquelo inmediatamente y remita el mensaje > original > > a la dirección de correo electrónico indicada. Cualquier copia, uso o > > distribución no autorizados de esta comunicación queda estrictamente > > prohibida. > > > > CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may > > contain confidential information which is privileged and intended only > for > > the individual or entity to whom they are addressed. 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