On Sun, Nov 21, 2010 at 6:13 PM, Konrad Banachowicz <konradb3@gmail.com> 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!. Relevant code pasted below:

<launch>
    

    
    <rosparam command="load" ns="robot_description_planning" file="$(find irp_test)/config/planning_groups.yaml" />
</launch>

Also, you should probably define additional groups in $(find irp_test)/config/planning_groups.yaml, which can be links-only (no joints needed here) which specify self-collision geometry groups, e.g.,

In $(find irp_test)/config/planning_groups.yaml:

- name: selfcol1
    links:
      link1
      link2
      base_link

- name: selfcol2
    links:
      link6

In $(find irp6_test)/config/collision_checks_both_arms.yaml

default_collision_operations:
- object1: selfcol1
    object2: selfcol2
    operation: enable # Enable collision checks between link6 and {base_link, link1, link2}

HTH,

Adolfo.

Thanks for your help,
Konrad Bnanachowicz

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