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

[Gil Jones]

Advait,

It's true that the service returns a vector of contact information, and you
can ask it for more contacts by changing the parameter
"contacts_to_compute_for_display" in the environment server.  Unfortunately,
this still doesn't do what you want it to - it will return to you an
arbitrary set of contacts on the first link to be found in collision, not a
contact or set of contacts for each link found to be in collision.  The only
way to get something like the desired functionality in the current system is
the following: repeatedly make calls to getStateValidity.  Whenever a link
is found to be in collision, add an OrderedCollisionOperation to your
request that disables collisions between that link and "all", and continue
until no collisions are reported.  This should give you the full set of
links in collision in a given state.

-Gil

--
E. Gil Jones (gjones at willowgarage.com)
Research Engineer
Willow Garage, Inc.
68 Willow Road
Menlo Park, CA 94025
650.475.9772


On Fri, Jan 21, 2011 at 5:39 AM, Advait Jain <advait at cc.gatech.edu> wrote:

> 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
> >>
> >>
> >> _______________________________________________
> >> ros-users mailing list
> >> ros-users at code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >>
> >>
> >
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20110121/084a4872/attachment-0003.html>