[ros-users] collision_map problems

[Ben Rudder]

Ah. That would explain it. Thanks Gil. I'll have a look.

On Thu, May 20, 2010 at 5:01 PM, Gil Jones <gjones at willowgarage.com> wrote:

> 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
> soon.
>
> -Gil
>
> --
> E. Gil Jones (gjones at willowgarage.com)
> Research Engineer
> Willow Garage, Inc.
> 68 Willow Road
> Menlo Park, CA 94025
> 650.475.9772
>
>
> 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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>>
>
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