[ros-users] [planning_environment] getting all the contact locations at the current arm configuration

[Advait Jain]

Hi Gil,

I think I should be able to modify
planning_environment/src/monitors/planning_monitor.cpp to do what I
want.

I will attempt this in the next couple of days and then file a feature
request ticket.

Advait


On Thu, Jan 20, 2011 at 9:07 PM, Gil Jones <gjones at willowgarage.com> wrote:
> Advait,
>
> Given the current APIs it's not possible.  I was considering modifying the
> collision space API to produce this information, and I'll probably get
> around to it reasonably soon but it's not a high priority.  Note that you
> shouldn't trust the current markers to give you all the links that are in
> collision - it will really only give you the first link it found that's in
> collision.  If you a file a feature request ticket I'll modify the ticket
> when it's ready to go.  And we would of course welcome a patch if you decide
> to do it yourself.
>
> --Gil
>
> --
> E. Gil Jones (gjones at willowgarage.com)
> Research Engineer
> Willow Garage, Inc.
> 68 Willow Road
> Menlo Park, CA 94025
> 650.475.9772
>
>
> On Thu, Jan 20, 2011 at 5:37 PM, Advait Jain <advait at cc.gatech.edu> wrote:
>>
>> I am interested in getting the locations of all the contacts between
>> the arm (in its current configuration) and the environment.
>>
>> The environment_server node of the planning_environment package almost
>> does the job but it publishes each contact point as a separate Marker.
>>
>> It would be really helpful for me if there were a way to get the
>> entire collision state in one shot. Is this a possibility?
>>
>> Thanks again,
>> Advait
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>
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