[ros-users] collision_map problems

Gil Jones gjones at willowgarage.com
Thu May 20 15:01:53 UTC 2010

Hi Ben,

You've just hit a package that needs some cleaning out.  The only
implementation of the collision map that we are currently maintaining is
collision_map_self_occ, which can do self-filtering and also maintain
collision points that are currently occluded by part of the robot.
Unfortunately the wiki documentation on this node is not really up-to-date
and the launch files and tests in this directory aren't being maintained -
we launch everything out of pr2_arm_navigation and have the tests in
arm_navigation_tests.  We also have major refactoring plans for the node in
the near future.  In the meantime, however, pr2_arm_navigation has
up-to-date launch files for this node - that's the reason you may not have
encountered any problems in the tutorials.  If you look in
pr2_arm_navigation/pr2_arm_navigation_perception/launch you'll see
collision_map_self_occ.launch.  This loads a couple of yaml files for the
links to use in self-filtering and the sources of the collision map. Let me
know if you have any questions - we will be cleaning and documenting this


E. Gil Jones (gjones at willowgarage.com)
Research Engineer
Willow Garage, Inc.
68 Willow Road
Menlo Park, CA 94025

On Thu, May 20, 2010 at 7:48 AM, Ben Rudder <b.rudder382 at gmail.com> wrote:

> Hi all
> I am trying to run boxturtle's collision_map_test.launch
> (collision_environment/collision_map/) and getting type errors and hanging,
>  [ INFO] 5.397000000: Maintaining occlusion map in frame 'base_link', with
> origin at (1.100000, 0.000000, 0.000000) and dimension (1.000000, 1.500000,
> 2.000000), resolution of 0.020000; sensor is in frame '', fixed fame is
> 'base_link'.
> [ WARN] 5.407000000: Self see links need to be an array
> [ WARN] 5.425000000: No robot links will be checked for self mask
> [ WARN] 5.444000000: No links specified for self filtering.
> (nothing happens afterwards...)
> There's something simple going wrong, but I can't figure out how to pass an
> array as a parameter in xml for launch file to fix it? Newbie xml user I
> guess, but I also can't find it through searching. This test file isn't
> correct and the other launch file (collision_map.launch) has a broken link?
> ERROR: cannot launch node of type
> [collision_map/collision_map_buffer_node]: Cannot locate node of type
> [collision_map_buffer_node] in package [collision_map]
> despite it exisiting in the same folder.
> I'm not sure how I haven't seen this while using the move_arm tutorials...
> Any Ideas/similar experiences?
> Ben
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