2010/11/23 Adolfo Rodríguez Tsouroukdissian < adolfo.rodriguez@pal-robotics.com> > > > On Mon, Nov 22, 2010 at 10:12 PM, Konrad Banachowicz wrote: > >> 2010/11/22 Adolfo Rodríguez Tsouroukdissian < >> adolfo.rodriguez@pal-robotics.com> >> >>> >>> >>> On Sun, Nov 21, 2010 at 6:13 PM, Konrad Banachowicz 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!. >>> >> Self collision is useless for me because my manipulator is not able to >> self collide. >> But i am adding "known objects" like in this tutorial : >> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Adding%20known%20objects%20to%20the%20collision%20environment. >> Whether it is taken into account by environment_server ? >> > > Oh yes, I misunderstood your post. Can't help you much there, for I haven't > used static collision objects yet. All I can think of now is to check > whether the "collision_object" topic is being published correctly, and that > it is correctly connected to your planning environment node. > > I think that is published correctly because objects shows in rviz and the same code works for PR2 in simulation. There must be something I missed in may configuration but I can't figure what. > > > > -- > 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 > > 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. If you are not the > intended recipient, you are hereby notified that any disclosure, copying, > distribution or use of this e-mail and/or accompanying document(s) is > strictly prohibited. If you have received this e-mail in error, please > immediately notify the sender at the above e-mail address. > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >