[ros-users] collision_map problems

Radu Bogdan Rusu rusu at willowgarage.com
Thu May 20 17:43:07 UTC 2010


As Gil said, we're in the process of converting the code and the underlying structures to "something better" (tm). :) 
We're working on the details right now, but it looks like this might happen within the next few weeks, so we'll keep you 
posted. In the meantime, try using the current code and let us know if you have any problems with it. Is your 
application motion planning or something else?


On 05/20/2010 08:01 AM, Gil Jones 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 <mailto: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
> <mailto: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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| Radu Bogdan Rusu | http://rbrusu.com/

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