On Sun, Nov 21, 2010 at 6:13 PM, Konrad Banachowicz <konradb3@gmail.com>wrote:

> Hi all,
> I am trying to set up motion_planning_environment for my manipulator.
> I have created my configs basing on these from PR2, everything starts but
> don't detect collision with environment.
> I am running environment_server without collision_map but i create static
> environment like in this tutorial :
> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Adding%20known%20objects%20to%20the%20collision%20environment.
> I am testing its using code from this tutorial :
> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20A
>
> My configs in appendix, all other configs for my manipulator can be found
> in my github repo : https://github.com/RCPRG-ros-pkg/irp6_robot .
>

Hi Konrad,

In the attached files, it seems that you are not specifying the
self-collision checks to be performed (the default is none). In $(find
irp6_test)/config/collision_checks_both_arms.yaml you have commented-out the
line that includes the relevant file (which AFAICT does not exist yet).
Without a collision map or self-collision geometries, there is nothing to
collide with!. Relevant code pasted below:

<launch>
    <!-- send parameters for collision checking for PR2; this includes
parameters for the self filter -->
<!--    <rosparam command="load" ns="robot_description_collision"
file="$(find irp6_test)/config/collision_checks_both_arms.yaml" />
-->
    <!-- send parameters needed for motion planning -->
    <rosparam command="load" ns="robot_description_planning" file="$(find
irp_test)/config/planning_groups.yaml" />
</launch>

Also, you should probably define additional groups in $(find
irp_test)/config/planning_groups.yaml, which can be links-only (no joints
needed here) which specify self-collision geometry groups, e.g.,

In $(find irp_test)/config/planning_groups.yaml:

- name: selfcol1
    links:
      link1
      link2
      base_link

- name: selfcol2
    links:
      link6



In $(find irp6_test)/config/collision_checks_both_arms.yaml

default_collision_operations:
  - object1: selfcol1
    object2: selfcol2
    operation: enable  # Enable collision checks between link6 and
{base_link, link1, link2}

 HTH,

Adolfo.


> Thanks for your help,
> Konrad Bnanachowicz
>
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>


-- 
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

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