[ros-users] manipulation stack problems

[Ugo Cupcic]

Hi,

Thanks for your answer. I think that I still haven't figured out how to use
the environment server properly. I still can't view the attached object.

I pasted the rostopic info for my environment server at the end [1]. If you
have any hints to what may be the problem, they're welcome!

Cheers,

Ugo



[1]
 rosnode info /environment_server
--------------------------------------------------------------------------------
Node [/environment_server]
Publications:
 * /environment_server/state_validity
[motion_planning_msgs/DisplayTrajectory]
 * /environment_server/allowed_contact_regions_array
[visualization_msgs/MarkerArray]
 * /rosout [rosgraph_msgs/Log]
 * /environment_server/collision_pose
[motion_planning_msgs/DisplayTrajectory]
 * /environment_server_contact_markers [visualization_msgs/Marker]

Subscriptions:
 * /collision_object [mapping_msgs/CollisionObject]
 * /tf [tf/tfMessage]
 * /collision_map_occ [mapping_msgs/CollisionMap]
 * /attached_collision_object [mapping_msgs/AttachedCollisionObject]
 * /collision_map_occ_update [mapping_msgs/CollisionMap]
 * /joint_states [sensor_msgs/JointState]

Services:
 * /environment_server/tf_frames
 * /environment_server/get_state_validity
 * /environment_server/get_current_allowed_collision_matrix
 * /environment_server/set_logger_level
 * /environment_server/get_environment_safety
 * /environment_server/revert_allowed_collisions
 * /environment_server/get_joints_in_group
 * /environment_server/get_loggers
 * /environment_server/get_group_info
 * /environment_server/get_execution_safety
 * /environment_server/get_trajectory_validity
 * /environment_server/get_collision_objects
 * /environment_server/get_robot_state
 * /environment_server/set_allowed_collisions


On Fri, Feb 11, 2011 at 9:32 PM, Kaijen Hsiao <hsiao at willowgarage.com>wrote:

> Hi Ugo,
>
> On Mon, Feb 7, 2011 at 10:20 AM, Ugo Cupcic <ugo at shadowrobot.com> wrote:
> > I'm not sure on which topic I should subscribe to visualize the
> > attached_object in rviz as well. (I looked at the tf but couldn't see any
> tf
> > moving with the model, once the hand has grasped the can).
>
> Just noticed this last bit in your last email.  Hopefully you've
> figured it out already, but in case you haven't, you visualize
> attached objects the same way you visualize all the collision models
> that you've added to the collision environment.  In our setup, the
> topic is /collision_model_markers/environment_server but yours may
> vary if you've changed your setup significantly.  There's no separate
> tf frame associated with the object being broadcast.
>
> -Kaijen
> _______________________________________________
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>



-- 
Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
Software Engineer | 251 Liverpool Road |
need a Hand? | London N1 1LX | +44 20 7700 2487
http://www.shadowrobot.com/hand/ @shadowrobot
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