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

[Advait Jain]

The functionality that I need is already implemented!

The response of the GetStateValidity service returns the contact state
as a vector of planning_environment_msgs/ContactInformation

Apologies for missing this earlier.



On Thu, Jan 20, 2011 at 9:23 PM, Advait Jain <advait at cc.gatech.edu> wrote:
> 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
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
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>