[ros-users] motion_planning_environment set up.

[Konrad Banachowicz]

2010/11/22 Adolfo Rodríguez Tsouroukdissian <
adolfo.rodriguez at pal-robotics.com>

>
>
> On Sun, Nov 21, 2010 at 6:13 PM, Konrad Banachowicz <konradb3 at gmail.com>wrote:
>
>> Hi all,
>> I am trying to set up motion_planning_environment for my manipulator.
>> I have created my configs basing on these from PR2, everything starts but
>> don't detect collision with environment.
>> I am running environment_server without collision_map but i create static
>> environment like in this tutorial :
>> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Adding%20known%20objects%20to%20the%20collision%20environment.
>> I am testing its using code from this tutorial :
>> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20A
>>
>> My configs in appendix, all other configs for my manipulator can be found
>> in my github repo : https://github.com/RCPRG-ros-pkg/irp6_robot .
>>
>
> Hi Konrad,
>
> In the attached files, it seems that you are not specifying the
> self-collision checks to be performed (the default is none). In $(find
> irp6_test)/config/collision_checks_both_arms.yaml you have commented-out the
> line that includes the relevant file (which AFAICT does not exist yet).
> Without a collision map or self-collision geometries, there is nothing to
> collide with!.
>
Self collision is useless for me because my manipulator is not able to self
collide.
But i am adding "known objects" like in this tutorial :
http://www.ros.org/wiki/motion_planning_environment/Tutorials/Adding%20known%20objects%20to%20the%20collision%20environment.
Whether it is taken into account by environment_server ?

 Relevant code pasted below:
>
> <launch>
>     <!-- send parameters for collision checking for PR2; this includes
> parameters for the self filter -->
> <!--    <rosparam command="load" ns="robot_description_collision"
> file="$(find irp6_test)/config/collision_checks_both_arms.yaml" />
> -->
>     <!-- send parameters needed for motion planning -->
>     <rosparam command="load" ns="robot_description_planning" file="$(find
> irp_test)/config/planning_groups.yaml" />
> </launch>
>
> Also, you should probably define additional groups in $(find
> irp_test)/config/planning_groups.yaml, which can be links-only (no joints
> needed here) which specify self-collision geometry groups, e.g.,
>
> In $(find irp_test)/config/planning_groups.yaml:
>
> - name: selfcol1
>     links:
>       link1
>       link2
>       base_link
>
> - name: selfcol2
>     links:
>       link6
>
>
>
> In $(find irp6_test)/config/collision_checks_both_arms.yaml
>
> default_collision_operations:
>   - object1: selfcol1
>     object2: selfcol2
>     operation: enable  # Enable collision checks between link6 and
> {base_link, link1, link2}
>
>  HTH,
>
> Adolfo.
>
>
>> Thanks for your help,
>> Konrad Bnanachowicz
>>
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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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