[ros-users] motion_planning_environment set up.

[Konrad Banachowicz]

2010/11/23 Adolfo Rodríguez Tsouroukdissian <
adolfo.rodriguez at pal-robotics.com>

>
>
> On Mon, Nov 22, 2010 at 10:12 PM, Konrad Banachowicz <konradb3 at gmail.com>wrote:
>
>> 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 ?
>>
>
> Oh yes, I misunderstood your post. Can't help you much there, for I haven't
> used static collision objects yet. All I can think of now is to check
> whether the "collision_object" topic is being published correctly, and that
> it is correctly connected to your planning environment node.
>
> I think that is published correctly because objects shows in rviz and the
same code works for PR2 in simulation.
There must be something I missed in may configuration but I can't figure
what.

>
>
>
> --
> 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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