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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