[ros-users] collision_map problems

Tue May 25 08:05:00 UTC 2010

On Fri, May 21, 2010 at 8:57 PM, Sachin Chitta <sachinc at willowgarage.com>wrote:

> Hi Adolfo,
>
> That sounds great. I look forward to the list of things that you plan to
> submit.

Just out of curiosity - which robot are you looking at and do you have a
> urdf/gazebo model for it?

The robot is a mobile base with a humanoid torso. We do have a urdf/gazebo
model for it.

> If you do, we can start helping by looking at some of the issues you are
> having by running your models in simulation.
>

That's indeed what we're doing, and echoing what was mentioned previously in
the thread, we've had very few issues so far.

Adolfo

>
> Regards,
> Sachin
>
> 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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>>>> >
>>>> >
>>>> >
>>>> >
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>>>>
>>>> --
>>>> | Radu Bogdan Rusu | http://rbrusu.com/
>>>> _______________________________________________
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>>>
>>>
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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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>
>
> --
> Sachin Chitta
> Research Scientist
> Willow Garage
>
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