[ros-users] collision_map problems
Stuart Glaser
sglaser at willowgarage.com
Fri May 21 19:11:24 UTC 2010
Adolfo,
What's causing your dependency on pr2_controller_manager?
Just curious,
-Stu
2010/5/21 Adolfo Rodríguez Tsouroukdissian <adolfo.rodriguez at pal-robotics.com>:
>
>
> 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
>>> >
>>> >
>>> > _______________________________________________
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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/
>>> _______________________________________________
>>> 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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--
Stuart Glaser
sglaser -at- willowgarage -dot- com
www.willowgarage.com
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