Advait,<br><br>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.<br>
<br>-Gil<br><br>--<br>E. Gil Jones (<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><div class="gmail_quote">On Fri, Jan 21, 2011 at 5:39 AM, Advait Jain <span dir="ltr"><<a href="mailto:advait@cc.gatech.edu">advait@cc.gatech.edu</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
The functionality that I need is already implemented!<br>
<br>
The response of the GetStateValidity service returns the contact state<br>
as a vector of planning_environment_msgs/ContactInformation<br>
<br>
Apologies for missing this earlier.<br>
<div><div></div><div class="h5"><br>
<br>
<br>
On Thu, Jan 20, 2011 at 9:23 PM, Advait Jain <<a href="mailto:advait@cc.gatech.edu">advait@cc.gatech.edu</a>> wrote:<br>
> Hi Gil,<br>
><br>
> I think I should be able to modify<br>
> planning_environment/src/monitors/planning_monitor.cpp to do what I<br>
> want.<br>
><br>
> I will attempt this in the next couple of days and then file a feature<br>
> request ticket.<br>
><br>
> Advait<br>
><br>
><br>
> On Thu, Jan 20, 2011 at 9:07 PM, Gil Jones <<a href="mailto:gjones@willowgarage.com">gjones@willowgarage.com</a>> wrote:<br>
>> Advait,<br>
>><br>
>> Given the current APIs it's not possible. I was considering modifying the<br>
>> collision space API to produce this information, and I'll probably get<br>
>> around to it reasonably soon but it's not a high priority. Note that you<br>
>> shouldn't trust the current markers to give you all the links that are in<br>
>> collision - it will really only give you the first link it found that's in<br>
>> collision. If you a file a feature request ticket I'll modify the ticket<br>
>> when it's ready to go. And we would of course welcome a patch if you decide<br>
>> to do it yourself.<br>
>><br>
>> --Gil<br>
>><br>
>> --<br>
>> E. Gil Jones (<a href="mailto:gjones@willowgarage.com">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, Jan 20, 2011 at 5:37 PM, Advait Jain <<a href="mailto:advait@cc.gatech.edu">advait@cc.gatech.edu</a>> wrote:<br>
>>><br>
>>> I am interested in getting the locations of all the contacts between<br>
>>> the arm (in its current configuration) and the environment.<br>
>>><br>
>>> The environment_server node of the planning_environment package almost<br>
>>> does the job but it publishes each contact point as a separate Marker.<br>
>>><br>
>>> It would be really helpful for me if there were a way to get the<br>
>>> entire collision state in one shot. Is this a possibility?<br>
>>><br>
>>> Thanks again,<br>
>>> Advait<br>
>>> _______________________________________________<br>
>>> ros-users mailing list<br>
>>> <a href="mailto:ros-users@code.ros.org">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>
>> ros-users mailing list<br>
>> <a href="mailto:ros-users@code.ros.org">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>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">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>
</div></div></blockquote></div><br>