<br><br><div class="gmail_quote">On Fri, May 21, 2010 at 9:11 PM, Stuart Glaser <span dir="ltr"><<a href="mailto:sglaser@willowgarage.com" target="_blank">sglaser@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;">
Adolfo,<br>
<br>
What's causing your dependency on pr2_controller_manager?<br></blockquote><div><br><br>pr2_controller_manager is not a dependency of our arm_navigation-related packages, but the gazebo-related ones. Apologies for the confusion. What I meant to say was that in order to have a minimal arm_navigation setup working, we had to set up a robot description, gazebo bindings (where the pr2_* dependencies are), and the arm_navigation specifics.<br>
<br>Adolfo<br><br>
</div><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
<br>
Just curious,<br>
-Stu<br>
<br>
2010/5/21 Adolfo Rodríguez Tsouroukdissian <<a href="mailto:adolfo.rodriguez@pal-robotics.com" target="_blank">adolfo.rodriguez@pal-robotics.com</a>>:<br>
<div><div></div><div>><br>
><br>
> On Fri, May 21, 2010 at 10:49 AM, Ben Rudder <<a href="mailto:b.rudder382@gmail.com" target="_blank">b.rudder382@gmail.com</a>> wrote:<br>
>><br>
>> Thanks Radu.<br>
>><br>
>> Yes, motion planning, towards the goal of grasping etc. Been at it for a<br>
>> while, trying to get the stack to work with our robot, pr2 is embedded into<br>
>> everything haha. So i thought I'd take a break and try to get something<br>
>> related but seemingly more generic up and running, and of course I chose a<br>
>> package that was essentially dead! Lucky me :)<br>
>> I'll let you know how it goes.<br>
><br>
> I've been doing something similar in the last few days, that is, creating<br>
> packages (no code, only launch and config files) to make one of our robots<br>
> use the arm_navigation stack in simulation. Although it is true that<br>
> arm_navigation could use some refactoring, I have to say that getting things<br>
> up & running has been faster than expected.<br>
> Bear in mind that my setup is simple, since I have not yet integrated<br>
> point-cloud sources (except for a dummy node that publishes a test cloud),<br>
> but the use of pr2-specific packages has been so far minimal: I believe we<br>
> only depend on pr2_gazebo_plugins and pr2_controller_manager, which we might<br>
> eventually no longer use.<br>
> I've been collecting a list of things that in my opinion would simplify the<br>
> process of moving to arm_navigation, which I plan to submit as enhancement<br>
> tickets in the near future.<br>
> @Ben: I'd be happy to help out if you have questions specific to getting<br>
> your robot working with arm_navigation.<br>
><br>
> Best,<br>
><br>
> Adolfo<br>
><br>
><br>
>><br>
>> Ben<br>
>><br>
>> On Thu, May 20, 2010 at 7:43 PM, Radu Bogdan Rusu <<a href="mailto:rusu@willowgarage.com" target="_blank">rusu@willowgarage.com</a>><br>
>> wrote:<br>
>>><br>
>>> Ben,<br>
>>><br>
>>> As Gil said, we're in the process of converting the code and the<br>
>>> underlying structures to "something better" (tm). :)<br>
>>> We're working on the details right now, but it looks like this might<br>
>>> 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<br>
>>> you have any problems with it. Is your<br>
>>> application motion planning or something else?<br>
>>><br>
>>> Cheers,<br>
>>> Radu.<br>
>>><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<br>
>>> > 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<br>
>>> > being<br>
>>> > maintained - we launch everything out of pr2_arm_navigation and have<br>
>>> > the<br>
>>> > tests in arm_navigation_tests. We also have major refactoring plans<br>
>>> > 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>
>>> > 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>
>>> > 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>
>>> > <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<br>
>>> > 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>
>>> > ros-users mailing list<br>
>>> > <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a> <mailto:<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a>><br>
>>> > <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>>> ><br>
>>> ><br>
>>> ><br>
>>> ><br>
>>> > _______________________________________________<br>
>>> > ros-users mailing list<br>
>>> > <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
>>> > <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>>><br>
>>> --<br>
>>> | Radu Bogdan Rusu | <a href="http://rbrusu.com/" target="_blank">http://rbrusu.com/</a><br>
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>><br>
>><br>
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>><br>
><br>
><br>
><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>
> Tel. +34.93.414.53.47<br>
> Fax.+34.93.209.11.09<br>
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<br>
<br>
--<br>
</div></div><font color="#888888">Stuart Glaser<br>
sglaser -at- willowgarage -dot- com<br>
<a href="http://www.willowgarage.com" target="_blank">www.willowgarage.com</a><br>
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