[ros-users] collision_map problems

[Ben Rudder]

Thanks Radu.

Yes, motion planning, towards the goal of grasping etc. Been at it for a
while, trying to get the stack to work with our robot, pr2 is embedded into
everything haha. So i thought I'd take a break and try to get something
related but seemingly more generic up and running, and of course I chose a
package that was essentially dead! Lucky me :)
I'll let you know how it goes.

Ben

On Thu, May 20, 2010 at 7:43 PM, Radu Bogdan Rusu <rusu at willowgarage.com>wrote:

> Ben,
>
> 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?
>
> Cheers,
> Radu.
>
> 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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> >     ros-users at code.ros.org <mailto:ros-users at code.ros.org>
> >     https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> >
> >
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>
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
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