Ok, so I'm still stuck with my problem of undetected collision between the attached object and the environment. I have one question: Is this collision computed by the ik_constrained_planner? I had to set "self.perception_running = 0" in ik_utilities.py, as I don't have an ik_constrained_planner: I'm using the generic arm_kinematics module with my robot. Would this explain the behavior I have? Cheers, Ugo On Wed, Feb 16, 2011 at 11:47 AM, Ugo Cupcic wrote: > 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 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: >> >> >> > name="display_planner_collision_model_environment_server" >> type="display_planner_collision_model" respawn="false" output="screen"> >> >> >> >> >> >> >> 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 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 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 <+442077002487> >>> http://www.shadowrobot.com/hand/ @shadowrobot >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >> >> _______________________________________________ >> 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 > > -- 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