Hi, Thanks for your answer. I think that I still haven't figured out how to use the environment server properly. I still can't view the attached object. I pasted the rostopic info for my environment server at the end [1]. If you have any hints to what may be the problem, they're welcome! Cheers, Ugo [1] rosnode info /environment_server -------------------------------------------------------------------------------- Node [/environment_server] Publications: * /environment_server/state_validity [motion_planning_msgs/DisplayTrajectory] * /environment_server/allowed_contact_regions_array [visualization_msgs/MarkerArray] * /rosout [rosgraph_msgs/Log] * /environment_server/collision_pose [motion_planning_msgs/DisplayTrajectory] * /environment_server_contact_markers [visualization_msgs/Marker] Subscriptions: * /collision_object [mapping_msgs/CollisionObject] * /tf [tf/tfMessage] * /collision_map_occ [mapping_msgs/CollisionMap] * /attached_collision_object [mapping_msgs/AttachedCollisionObject] * /collision_map_occ_update [mapping_msgs/CollisionMap] * /joint_states [sensor_msgs/JointState] Services: * /environment_server/tf_frames * /environment_server/get_state_validity * /environment_server/get_current_allowed_collision_matrix * /environment_server/set_logger_level * /environment_server/get_environment_safety * /environment_server/revert_allowed_collisions * /environment_server/get_joints_in_group * /environment_server/get_loggers * /environment_server/get_group_info * /environment_server/get_execution_safety * /environment_server/get_trajectory_validity * /environment_server/get_collision_objects * /environment_server/get_robot_state * /environment_server/set_allowed_collisions On Fri, Feb 11, 2011 at 9:32 PM, Kaijen Hsiao wrote: > Hi Ugo, > > On Mon, Feb 7, 2011 at 10:20 AM, Ugo Cupcic wrote: > > I'm not sure on which topic I should subscribe to visualize the > > attached_object in rviz as well. (I looked at the tf but couldn't see any > tf > > moving with the model, once the hand has grasped the can). > > Just noticed this last bit in your last email. Hopefully you've > figured it out already, but in case you haven't, you visualize > attached objects the same way you visualize all the collision models > that you've added to the collision environment. In our setup, the > topic is /collision_model_markers/environment_server but yours may > vary if you've changed your setup significantly. There's no separate > tf frame associated with the object being broadcast. > > -Kaijen > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com Software Engineer | 251 Liverpool Road | need a Hand? | London N1 1LX | +44 20 7700 2487 http://www.shadowrobot.com/hand/ @shadowrobot