On Fri, May 21, 2010 at 8:57 PM, Sachin Chitta wrote: > Hi Adolfo, > > That sounds great. I look forward to the list of things that you plan to > submit. Just out of curiosity - which robot are you looking at and do you have a > urdf/gazebo model for it? The robot is a mobile base with a humanoid torso. We do have a urdf/gazebo model for it. > If you do, we can start helping by looking at some of the issues you are > having by running your models in simulation. > That's indeed what we're doing, and echoing what was mentioned previously in the thread, we've had very few issues so far. Adolfo > > Regards, > Sachin > > 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 >> > 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 >>>> >>> >>> >>> _______________________________________________ >>> 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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