ok, I did so....
but the formatting is pretty ugly and I can't attach files (....yet)
:(
On 2011-02-28 16:51, Sachin Chitta wrote:
> Hi Felix,
>
> Could you please ask this question on answers.ros.org?
>
> Thanks,
> Sachin
>
> On Mon, Feb 28, 2011 at 3:14 AM, "Felix Meßmer"
<
Felix_Messmer@web.de> wrote:
> >
> > Dear community,
> >
> > I have some questions about the trajectory_filter...
> >
> >
> > First of all, here is how we currently set it all up:
> >
> > #######################
cob_arm_navigation/cob3_trajectory_filter.launch #######################
> >
> > <launch>
> > <node pkg="trajectory_filter_server" name="trajectory_filter"
type="trajectory_filter_server" output="screen">
> > <!-- <rosparam command="load" file="$(find
cob_arm_navigation)/config/joint_limits.yaml"/> -->
> > <rosparam command="load" file="$(find
cob_arm_navigation)/config/filters.yaml"/>
> >
> > <remap from="robot_description" to="robot_description" />
> > <!--remap from="collision_map" to="collision_map_occ" /-->
> > <!--remap from="collision_map_update" to="collision_map_occ_update"
/-->
> > <!--param name="refresh_interval_collision_map" type="double"
value="0.0" /-->
> > <param name="refresh_interval_kinematic_state" type="double"
value="1.0" />
> > <param name="bounding_planes" type="string" value="0 0 1 -0.01" />
> > <param name="compute_contacts" type="bool" value="false" />
> >
> > <!--param name="pointcloud_padd" type="double" value="0.00" /-->
> >
> > <rosparam command="load" file="$(find
cob_arm_navigation)/config/cob3_robot_padding.yaml" />
> >
> > </node>
> > </launch>
> >
> >
################################################################################
> >
> >
> >
> > ####################### cob_arm_navigation/filters.yaml
#######################
> >
> > service_type: FilterJointTrajectoryWithConstraints
> > filter_chain:
> > -
> > name: unnormalize_trajectory
> > type: UnNormalizeFilterJointTrajectoryWithConstraints
> > -
> > name: cubic_spline_short_cutter_smoother
> > type: CubicSplineShortCutterFilterJointTrajectoryWithConstraints
> > params: {discretization: 0.01}
> >
> >
########################################################################
> >
> >
> > In cob_arm_navigation/cob3_move_arm.launch: <param
name="trajectory_filter_allowed_time" type="double" value="2.0" />
> >
> > This is actually the configuration that I took from the
pr2_arm_navigation tutorials a while ago...adopted to the
care-o-bot...but I never looked into it more closely.
> >
> >
> >
> >
> > When I now do planned motion using the OMPL planner or our own
PRMCE planner (which I am currently implementing and testing; for the
idea behind it see Leven
(text/plain)