>
> (1) This is difficult to debug without more information. One thing you
> could do is display the pose of the robot corresponding to the last
> collision in rviz. This tutorial -
> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20B
> - helps you do that.
>
> I've been running off of
http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20A,
except with my own robot and no laser data, so I know exactly what pose the
collisions are happening in.


> (2) Also, using the rviz "select" button, you can click on the markers
> and they will give you more information on what is colliding.
>
> Good to know.


> (3) Are you moving the base of the robot around? We are working
> towards a release that handles motion of the robot base properly - the
> current collision environment is not yet fully tested for motion of
> the base.
>
> No. I'm only running GetStateValidity with one static pose.