[ros-users] collision_map problems

Fri May 21 09:55:19 UTC 2010

On Fri, May 21, 2010 at 10:49 AM, Ben Rudder <b.rudder382 at gmail.com> wrote:

> 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.
>

I've been doing something similar in the last few days, that is, creating
packages (no code, only launch and config files) to make one of our robots
use the arm_navigation stack in simulation. Although it is true that
arm_navigation could use some refactoring, I have to say that getting things
up & running has been faster than expected.
Bear in mind that my setup is simple, since I have not yet integrated
point-cloud sources (except for a dummy node that publishes a test cloud),
but the use of pr2-specific packages has been so far minimal: I believe we
only depend on pr2_gazebo_plugins and pr2_controller_manager, which we might
eventually no longer use.
I've been collecting a list of things that in my opinion would simplify the
process of moving to arm_navigation, which I plan to submit as enhancement
tickets in the near future.
@Ben: I'd be happy to help out if you have questions specific to getting
your robot working with arm_navigation.

Best,

Adolfo

> 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
>> >
>> >
>> >     _______________________________________________
>> >     ros-users mailing list
>> >     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/
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>
>
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-- 
Adolfo Rodríguez Tsouroukdissian, Ph. D.

Robotics engineer
PAL ROBOTICS S.L
http://www.pal-robotics.com
Tel. +34.93.414.53.47
Fax.+34.93.209.11.09
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