[ros-users] questions on trajectory_filter

[Tully Foote]

Thanks,

There's a bit of a learning curve for formatting.  It uses Markdown for
formatting.  For more info see http://en.wikipedia.org/wiki/Markdown Also
the formatting buttons at the top of the text box are pretty helpful.

Tully

On Mon, Feb 28, 2011 at 9:33 AM, Felix Messmer <felix_messmer at web.de> wrote:

> ok, I did so....
>
> but the formatting is pretty ugly and I can't attach files (....yet)
> :(
>
>
>
>
>
> On 2011-02-28 16:51, Sachin Chitta wrote:
>  > Hi Felix,
>  >
>  > Could you please ask this question on answers.ros.org?
>  >
>  > Thanks,
>  > Sachin
>  >
>  > On Mon, Feb 28, 2011 at 3:14 AM, "Felix Meßmer"
> <Felix_Messmer at web.de> wrote:
>  > >
>  > > Dear community,
>  > >
>  > > I have some questions about the trajectory_filter...
>  > >
>  > >
>  > > First of all, here is how we currently set it all up:
>  > >
>  > > #######################
> cob_arm_navigation/cob3_trajectory_filter.launch #######################
>  > >
>  > > <launch>
>  > > <node pkg="trajectory_filter_server" name="trajectory_filter"
> type="trajectory_filter_server" output="screen">
>  > > <!-- <rosparam command="load" file="$(find
> cob_arm_navigation)/config/joint_limits.yaml"/> -->
>  > > <rosparam command="load" file="$(find
> cob_arm_navigation)/config/filters.yaml"/>
>  > >
>  > > <remap from="robot_description" to="robot_description" />
>  > > <!--remap from="collision_map" to="collision_map_occ" /-->
>  > > <!--remap from="collision_map_update" to="collision_map_occ_update"
> /-->
>  > > <!--param name="refresh_interval_collision_map" type="double"
> value="0.0" /-->
>  > > <param name="refresh_interval_kinematic_state" type="double"
> value="1.0" />
>  > > <param name="bounding_planes" type="string" value="0 0 1 -0.01" />
>  > > <param name="compute_contacts" type="bool" value="false" />
>  > >
>  > > <!--param name="pointcloud_padd" type="double" value="0.00" /-->
>  > >
>  > > <rosparam command="load" file="$(find
> cob_arm_navigation)/config/cob3_robot_padding.yaml" />
>  > >
>  > > </node>
>  > > </launch>
>  > >
>  > >
>
> ################################################################################
>  > >
>  > >
>  > >
>  > > ####################### cob_arm_navigation/filters.yaml
> #######################
>  > >
>  > > service_type: FilterJointTrajectoryWithConstraints
>  > > filter_chain:
>  > >  -
>  > >  name: unnormalize_trajectory
>  > >  type: UnNormalizeFilterJointTrajectoryWithConstraints
>  > >  -
>  > >  name: cubic_spline_short_cutter_smoother
>  > >  type: CubicSplineShortCutterFilterJointTrajectoryWithConstraints
>  > >  params: {discretization: 0.01}
>  > >
>  > >
> ########################################################################
>  > >
>  > >
>  > > In cob_arm_navigation/cob3_move_arm.launch: <param
> name="trajectory_filter_allowed_time" type="double" value="2.0" />
>  > >
>  > > This is actually the configuration that I took from the
> pr2_arm_navigation tutorials a while ago...adopted to the
> care-o-bot...but I never looked into it more closely.
>  > >
>  > >
>  > >
>  > >
>  > > When I now do planned motion using the OMPL planner or our own
> PRMCE planner (which I am currently implementing and testing; for the
> idea behind it see Leven
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>



-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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