Is the mapping_msgs/CollisionObject being deprecated for inserting objects into the collision environment? I couldn't find anything on the wiki. Kevin On Tue, Nov 23, 2010 at 9:15 AM, Matei Ciocarlie wrote: > Hi Severin, > > We have something like that in our object_manipulation stack, which has the > need to reason about objects from a database of known household objects. For > that we use the following message: > > household_objects_database_msgs/DatabaseModelPose > > # Informs that a specific model from the Model Database has been > # identified at a certain location > > # the database id of the model > int32 model_id > # the pose that it can be found in > geometry_msgs/PoseStamped pose > > This looks like what you need, even though your objects are not (yet) in > the database itself. However, it is simple enough that you don't necessarily > have to use it if you don't want to bring in the additional dependencies. > > The CollisionObject messages are used to let the Collision Environment know > about objects in the world. Note that this is a separate task from any other > code you might have that uses object info. It is very useful though: you can > assign your object a unique collision name, and then refer to it to > individually enable/disable collision checking for your object, etc. More > details at: > > > http://www.ros.org/wiki/motion_planning_environment/Tutorials/Adding%20known%20objects%20to%20the%20collision%20environment > > Let us know if we can help further. > > Best, > Matei > > > On Tue, Nov 23, 2010 at 12:32 AM, Severin Lemaignan wrote: > >> Hello, >> >> I need to represent a set of high-level objects by their id and pose in >> the environment. >> >> The best message candidate seems to be so far the >> mapping_msgs/CollisionObject type, but I read on the wiki that it is >> soon to be deprecated. >> >> Is it still recommended to use it or is an alternative available? >> >> Cheers, >> Severin >> >> -- >> Séverin Lemaignan - lemaigna@in.tum.de >> [00] PhD student on Cognitive Robotics >> /|__|\ Technische Uni München - IAS group / LAAS-CNRS - RIS group >> '' +498928917780 / +33561337844 >> http://www.laas.fr/~slemaign >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > > -- > Matei Ciocarlie > Research Scientist > Willow Garage Inc. > 650-475-9780 > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >