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 <lemaigna@in.tum.de> 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
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Matei Ciocarlie
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Willow Garage Inc.
650-475-9780