Thanks a lot !! This was the node I was still missing!  I now have a first
draft of the manipulation stack for our hand / arm (with still lots of
improvement needed, but I'm already able to "theoretically" pick up and
place a coke can).

Thank you all for your answers.

Cheers,

Ugo


On Tue, Feb 15, 2011 at 7:51 PM, Gil Jones <gjones@willowgarage.com> wrote:

> Hi Ugo,
>
> To see what the current state of the environment server is you have to run
> an another program in the planning environment package.  Here's the contents
> of the launch file in
> planning_environment/launch/display_planner_collision_model.launch:
>
> <launch>
>   <node pkg="planning_environment"
> name="display_planner_collision_model_environment_server"
> type="display_planner_collision_model" respawn="false" output="screen">
>     <param name="skip_collision_map" type="bool" value="false" />
>     <param name="prefix" type="string" value="/environment_server" />
>   </node>
> </launch>
>
>
> This node calls services in the environment_server and broadcasts markers
> with the objects.  You should see a marker topic after you launch this, and
> a collision map topic showing the state of the collision map the environment
> server uses.
>
> Are you sure you are processing the kinect data through the appropriate set
> of self filters? You need to be filtering the robot and the attached objects
> out of the point cloud in order for the grasping pipeline to function.  I'm
> attaching a couple very experimental launch files that should process the
> kinect data through the required pipeline to produce robot-free collision
> maps.
>
> Let me know how it goes.
>
> -Gil
>
> --
> E. Gil Jones (gjones@willowgarage.com)
> Research Engineer
> Willow Garage, Inc.
> 68 Willow Road
> Menlo Park, CA 94025
> 650.475.9772 <+16504759772>
>
>
>
> On Mon, Feb 14, 2011 at 9:34 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:
>
>> 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 <hsiao@willowgarage.com>wrote:
>>
>>> Hi Ugo,
>>>
>>> On Mon, Feb 7, 2011 at 10:20 AM, Ugo Cupcic <ugo@shadowrobot.com> 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 <+442077002487>
>> http://www.shadowrobot.com/hand/ @shadowrobot
>>
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users@code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
>
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>


-- 
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