Hi Adolfo,<br><br>That sounds great. I look forward to the list of things that you plan to submit. Just out of curiosity - which robot are you looking at and do you have a urdf/gazebo model for it? If you do, we can start helping by looking at some of the issues you are having by running your models in simulation.<br>
<br>Regards,<br>Sachin<br><br><div class="gmail_quote">2010/5/21 Adolfo Rodríguez Tsouroukdissian <span dir="ltr"><<a href="mailto:adolfo.rodriguez@pal-robotics.com">adolfo.rodriguez@pal-robotics.com</a>></span><br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;"><br><br><div class="gmail_quote"><div class="im">On Fri, May 21, 2010 at 10:49 AM, Ben Rudder <span dir="ltr"><<a href="mailto:b.rudder382@gmail.com" target="_blank">b.rudder382@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
Thanks Radu.<br><br>Yes, motion planning, towards the goal of grasping etc. Been at it for a while, trying to get the stack to work with our robot, pr2 is embedded into everything haha. So i thought I'd take a break and try to get something related but seemingly more generic up and running, and of course I chose a package that was essentially dead! Lucky me :)<br>
I'll let you know how it goes.<br></blockquote></div><div><br>I've been doing something similar in the last few days, that is, creating packages (no code, only launch and config files) to make one of our robots use the arm_navigation stack in simulation. Although it is true that arm_navigation could use some refactoring, I have to say that getting things up & running has been faster than expected.<br>
Bear in mind that my setup is simple, since I have not yet integrated point-cloud sources (except for a dummy node that publishes a test cloud), but the use of pr2-specific packages has been so far minimal: I believe we only depend on pr2_gazebo_plugins and pr2_controller_manager, which we might eventually no longer use.<br>
I've been collecting a list of things that in my opinion would simplify the process of moving to arm_navigation, which I plan to submit as enhancement tickets in the near future.<br>@Ben: I'd be happy to help out if you have questions specific to getting your robot working with arm_navigation.<br>
<br>Best,<br><br>Adolfo<br><br><br></div><div><div></div><div class="h5"><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;"><br>Ben<br><br><div class="gmail_quote">
On Thu, May 20, 2010 at 7:43 PM, Radu Bogdan Rusu <span dir="ltr"><<a href="mailto:rusu@willowgarage.com" target="_blank">rusu@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">Ben,<br>
<br>
As Gil said, we're in the process of converting the code and the underlying structures to "something better" (tm). :)<br>
We're working on the details right now, but it looks like this might happen within the next few weeks, so we'll keep you<br>
posted. In the meantime, try using the current code and let us know if you have any problems with it. Is your<br>
application motion planning or something else?<br>
<br>
Cheers,<br>
Radu.<br>
<div><br>
On 05/20/2010 08:01 AM, Gil Jones wrote:<br>
> Hi Ben,<br>
><br>
> You've just hit a package that needs some cleaning out. The only<br>
> implementation of the collision map that we are currently maintaining is<br>
> collision_map_self_occ, which can do self-filtering and also maintain<br>
> collision points that are currently occluded by part of the robot.<br>
> Unfortunately the wiki documentation on this node is not really<br>
> up-to-date and the launch files and tests in this directory aren't being<br>
> maintained - we launch everything out of pr2_arm_navigation and have the<br>
> tests in arm_navigation_tests. We also have major refactoring plans for<br>
> the node in the near future. In the meantime, however,<br>
> pr2_arm_navigation has up-to-date launch files for this node - that's<br>
> the reason you may not have encountered any problems in the tutorials.<br>
> If you look in pr2_arm_navigation/pr2_arm_navigation_perception/launch<br>
> you'll see collision_map_self_occ.launch. This loads a couple of yaml<br>
> files for the links to use in self-filtering and the sources of the<br>
> collision map. Let me know if you have any questions - we will be<br>
> cleaning and documenting this soon.<br>
><br>
> -Gil<br>
><br>
> --<br>
</div>> E. Gil Jones (<a href="mailto:gjones@willowgarage.com" target="_blank">gjones@willowgarage.com</a> <mailto:<a href="mailto:gjones@willowgarage.com" target="_blank">gjones@willowgarage.com</a>>)<br>
<div>> Research Engineer<br>
> Willow Garage, Inc.<br>
> 68 Willow Road<br>
> Menlo Park, CA 94025<br>
> 650.475.9772<br>
><br>
><br>
> On Thu, May 20, 2010 at 7:48 AM, Ben Rudder <<a href="mailto:b.rudder382@gmail.com" target="_blank">b.rudder382@gmail.com</a><br>
</div><div><div></div><div>> <mailto:<a href="mailto:b.rudder382@gmail.com" target="_blank">b.rudder382@gmail.com</a>>> wrote:<br>
><br>
> Hi all<br>
><br>
> I am trying to run boxturtle's collision_map_test.launch<br>
> (collision_environment/collision_map/) and getting type errors and<br>
> hanging,<br>
><br>
> [ INFO] 5.397000000: Maintaining occlusion map in frame<br>
> 'base_link', with origin at (1.100000, 0.000000, 0.000000) and<br>
> dimension (1.000000, 1.500000, 2.000000), resolution of 0.020000;<br>
> sensor is in frame '', fixed fame is 'base_link'.<br>
> [ WARN] 5.407000000: Self see links need to be an array<br>
> [ WARN] 5.425000000: No robot links will be checked for self mask<br>
> [ WARN] 5.444000000: No links specified for self filtering.<br>
><br>
> (nothing happens afterwards...)<br>
><br>
> There's something simple going wrong, but I can't figure out how to<br>
> pass an array as a parameter in xml for launch file to fix it?<br>
> Newbie xml user I guess, but I also can't find it through searching.<br>
> This test file isn't correct and the other launch file<br>
> (collision_map.launch) has a broken link?<br>
><br>
> ERROR: cannot launch node of type<br>
> [collision_map/collision_map_buffer_node]: Cannot locate node of<br>
> type [collision_map_buffer_node] in package [collision_map]<br>
><br>
> despite it exisiting in the same folder.<br>
> I'm not sure how I haven't seen this while using the move_arm<br>
> tutorials...<br>
><br>
> Any Ideas/similar experiences?<br>
><br>
> Ben<br>
><br>
><br>
> _______________________________________________<br>
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><br>
><br>
><br>
><br>
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<br>
</div><font color="#888888">--<br>
| Radu Bogdan Rusu | <a href="http://rbrusu.com/" target="_blank">http://rbrusu.com/</a><br>
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<br></blockquote></div></div></div><br><br clear="all"><br>-- <br>Adolfo Rodríguez Tsouroukdissian, Ph. D.<br><br>Robotics engineer<br>PAL ROBOTICS S.L<br><a href="http://www.pal-robotics.com" target="_blank">http://www.pal-robotics.com</a><br>
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<br></blockquote></div><br><br clear="all"><br>-- <br>Sachin Chitta<br>Research Scientist<br>Willow Garage<br>