[ros-users] Collision objects message type
watts at willowgarage.com
Tue Nov 23 17:33:02 UTC 2010
Is the mapping_msgs/CollisionObject being deprecated for inserting objects
into the collision environment? I couldn't find anything on the wiki.
On Tue, Nov 23, 2010 at 9:15 AM, Matei Ciocarlie <matei at willowgarage.com>wrote:
> Hi Severin,
> We have something like that in our object_manipulation stack, which has the
> need to reason about objects from a database of known household objects. For
> that we use the following message:
> # Informs that a specific model from the Model Database has been
> # identified at a certain location
> # the database id of the model
> int32 model_id
> # the pose that it can be found in
> geometry_msgs/PoseStamped pose
> This looks like what you need, even though your objects are not (yet) in
> the database itself. However, it is simple enough that you don't necessarily
> have to use it if you don't want to bring in the additional dependencies.
> The CollisionObject messages are used to let the Collision Environment know
> about objects in the world. Note that this is a separate task from any other
> code you might have that uses object info. It is very useful though: you can
> assign your object a unique collision name, and then refer to it to
> individually enable/disable collision checking for your object, etc. More
> details at:
> Let us know if we can help further.
> On Tue, Nov 23, 2010 at 12:32 AM, Severin Lemaignan <lemaigna at in.tum.de>wrote:
>> I need to represent a set of high-level objects by their id and pose in
>> the environment.
>> The best message candidate seems to be so far the
>> mapping_msgs/CollisionObject type, but I read on the wiki that it is
>> soon to be deprecated.
>> Is it still recommended to use it or is an alternative available?
>> Séverin Lemaignan - lemaigna at in.tum.de
>>  PhD student on Cognitive Robotics
>> /|__|\ Technische Uni München - IAS group / LAAS-CNRS - RIS group
>> '' +498928917780 / +33561337844
>> http://www.laas.fr/~slemaign <http://www.laas.fr/%7Eslemaign>
>> ros-users mailing list
>> ros-users at code.ros.org
> Matei Ciocarlie
> Research Scientist
> Willow Garage Inc.
> ros-users mailing list
> ros-users at code.ros.org
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