On Fri, Feb 18, 2011 at 6:56 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:

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 <ugo@shadowrobot.com> 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 <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

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

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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

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ros-users mailing list
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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

_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users