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
>
>
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>
>