[ros-users] Collision objects message type

[Kevin Watts]

Is the mapping_msgs/CollisionObject being deprecated for inserting objects
into the collision environment? I couldn't find anything on the wiki.

Kevin

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:
>
> household_objects_database_msgs/DatabaseModelPose
>
> # 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:
>
>
> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Adding%20known%20objects%20to%20the%20collision%20environment
>
> Let us know if we can help further.
>
> Best,
> Matei
>
>
> On Tue, Nov 23, 2010 at 12:32 AM, Severin Lemaignan <lemaigna at in.tum.de>wrote:
>
>> Hello,
>>
>> 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?
>>
>> Cheers,
>> Severin
>>
>> --
>>          Séverin Lemaignan - lemaigna at in.tum.de
>>  [00]    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>
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>
>
>
> --
> Matei Ciocarlie
> Research Scientist
> Willow Garage Inc.
> 650-475-9780
>
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