[ros-users] manipulation stack problems

Fri Feb 18 14:56:40 UTC 2011

Ok, so I'm still stuck with my problem of undetected collision between the
attached object and the environment.

I have one question:
Is this collision computed by the ik_constrained_planner? I had to set
"self.perception_running = 0" in ik_utilities.py, as I don't have an
ik_constrained_planner: I'm using the generic arm_kinematics module with my
robot. Would this explain the behavior I have?

Cheers,

Ugo

On Wed, Feb 16, 2011 at 11:47 AM, Ugo Cupcic <ugo at shadowrobot.com> wrote:

> Thanks a lot !! This was the node I was still missing!  I now have a first
> draft of the manipulation stack for our hand / arm (with still lots of
> improvement needed, but I'm already able to "theoretically" pick up and
> place a coke can).
>
> Thank you all for your answers.
>
> Cheers,
>
> Ugo
>
>
>
> On Tue, Feb 15, 2011 at 7:51 PM, Gil Jones <gjones at willowgarage.com>wrote:
>
>> Hi Ugo,
>>
>> To see what the current state of the environment server is you have to run
>> an another program in the planning environment package.  Here's the contents
>> of the launch file in
>> planning_environment/launch/display_planner_collision_model.launch:
>>
>> <launch>
>>   <node pkg="planning_environment"
>> name="display_planner_collision_model_environment_server"
>> type="display_planner_collision_model" respawn="false" output="screen">
>>     <param name="skip_collision_map" type="bool" value="false" />
>>     <param name="prefix" type="string" value="/environment_server" />
>>   </node>
>> </launch>
>>
>>
>> This node calls services in the environment_server and broadcasts markers
>> with the objects.  You should see a marker topic after you launch this, and
>> a collision map topic showing the state of the collision map the environment
>> server uses.
>>
>> Are you sure you are processing the kinect data through the appropriate
>> set of self filters? You need to be filtering the robot and the attached
>> objects out of the point cloud in order for the grasping pipeline to
>> function.  I'm attaching a couple very experimental launch files that should
>> process the kinect data through the required pipeline to produce robot-free
>> collision maps.
>>
>> Let me know how it goes.
>>
>> -Gil
>>
>> --
>> E. Gil Jones (gjones at willowgarage.com)
>> Research Engineer
>> Willow Garage, Inc.
>> 68 Willow Road
>> Menlo Park, CA 94025
>> 650.475.9772 <+16504759772>
>>
>>
>>
>> On Mon, Feb 14, 2011 at 9:34 AM, Ugo Cupcic <ugo at shadowrobot.com> wrote:
>>
>>> 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
>>>> _______________________________________________
>>>> ros-users mailing list
>>>> ros-users at code.ros.org
>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
>>>
>>>
>>>
>>> --
>>> Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
>>> Software Engineer | 251 Liverpool Road |
>>> need a Hand? | London N1 1LX | +44 20 7700 2487 <+442077002487>
>>> http://www.shadowrobot.com/hand/ @shadowrobot
>>>
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>>
>>
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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
>
>

-- 
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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