[ros-users] collision_map problems

Tue May 25 07:52:10 UTC 2010

On Fri, May 21, 2010 at 9:11 PM, Stuart Glaser <sglaser at willowgarage.com>wrote:

> Adolfo,
>
> What's causing your dependency on pr2_controller_manager?
>

pr2_controller_manager is not a dependency of our arm_navigation-related
packages, but the gazebo-related ones. Apologies for the confusion. What I
meant to say was that in order to have a minimal arm_navigation setup
working, we had to set up a robot description, gazebo bindings (where the
pr2_* dependencies are), and the arm_navigation specifics.

Adolfo

>
> 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
> >>> >
> >>> >
> >>> >     _______________________________________________
> >>> >     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
> >>> >
> >>> >
> >>> >
> >>> >
> >>> > _______________________________________________
> >>> > ros-users mailing list
> >>> > ros-users at code.ros.org
> >>> > https://code.ros.org/mailman/listinfo/ros-users
> >>>
> >>> --
> >>> | 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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