[ros-users] Pr2 arm motion tutorials

[Gil Jones]

Patrick,

I don't know about the line - you'll have to take a screenshot to get more
explanation on that, but you should be able to get rid of the black/white by
deselecting "Autocompute Intensity Bound" under the laser scan or point
cloud topics.  I don't know a lot about that parameter, and it may do
something more useful on real laser data; in simulation it does seem to do
weird things.

-Gil

--
E. Gil Jones (gjones at willowgarage.com)
Research Engineer
Willow Garage, Inc.
68 Willow Road
Menlo Park, CA 94025
650.475.9772


On Sun, Oct 3, 2010 at 4:59 PM, Patrick Doyle <wpdster at gmail.com> wrote:

> I've been stepping through the first PR2 arm motion planning tutorial
> (
> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Making%20collision%20maps%20from%20self-filtered%20tilting%20laser%20data
> )
> and I have a couple of questions...
>
> When I first launch rviz_collision_tutorial_1.launch, I see a cluster
> of points lit up roughly where I think it's reasonable that the laser
> scanner should be getting returns from the pole.  When I launch
> laser-perception.launch, I see that series of points traverse down the
> pole, lighting up the tips of the grippers along the way.  The cluster
> of points on the grippers turn black about 1/2 way down the gripper
> and stay black as they traverse down the arm and back up again, where
> they turn white once again.  Similarly, the clusfer of points on the
> pole dim about 1/2 way down and, as best as I can tell, at exactly the
> same time that the cluster of points on the grippers turn dark.  They
> turn bright again when the scan goes back up the pole.
>
> After the scan has traced all (or most?) of the way down the pole, I
> see a very straight white line trace diagonally down across the rviz
> scene, change direction, and go back up again, followed shortly after
> by the cluster of points traversing the pole and the arms.
>
> Do other folks see similar behavior?  If so, what causes the laser
> scan display to turn dark (or dim) and what causes the straight white
> line?
>
> When I first saw the straight white line, I thought it was the laser
> scan itself, but now that I've run it a few times and understand (most
> of the rest of what) I'm seeing, I'm not sure what the source of it is
> (except that it is related to the laser scan itself).  I see the
> behavior of the white points turning dark/dim for both the laser scan
> topic and the point cloud topic.
>
> --wpd
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