Hi,<br><br>Thanks for your answer. I think that I still haven't figured out how to use the environment server properly. I still can't view the attached object.<br><br>I pasted the rostopic info for my environment server at the end [1]. If you have any hints to what may be the problem, they're welcome!<br>
<br>Cheers,<br><br>Ugo<br><br><br><br>[1]<br> rosnode info /environment_server<br>--------------------------------------------------------------------------------<br>Node [/environment_server]<br>Publications: <br> * /environment_server/state_validity [motion_planning_msgs/DisplayTrajectory]<br>
 * /environment_server/allowed_contact_regions_array [visualization_msgs/MarkerArray]<br> * /rosout [rosgraph_msgs/Log]<br> * /environment_server/collision_pose [motion_planning_msgs/DisplayTrajectory]<br> * /environment_server_contact_markers [visualization_msgs/Marker]<br>
<br>Subscriptions: <br> * /collision_object [mapping_msgs/CollisionObject]<br> * /tf [tf/tfMessage]<br> * /collision_map_occ [mapping_msgs/CollisionMap]<br> * /attached_collision_object [mapping_msgs/AttachedCollisionObject]<br>
 * /collision_map_occ_update [mapping_msgs/CollisionMap]<br> * /joint_states [sensor_msgs/JointState]<br><br>Services: <br> * /environment_server/tf_frames<br> * /environment_server/get_state_validity<br> * /environment_server/get_current_allowed_collision_matrix<br>
 * /environment_server/set_logger_level<br> * /environment_server/get_environment_safety<br> * /environment_server/revert_allowed_collisions<br> * /environment_server/get_joints_in_group<br> * /environment_server/get_loggers<br>
 * /environment_server/get_group_info<br> * /environment_server/get_execution_safety<br> * /environment_server/get_trajectory_validity<br> * /environment_server/get_collision_objects<br> * /environment_server/get_robot_state<br>
 * /environment_server/set_allowed_collisions<br><br><br><div class="gmail_quote">On Fri, Feb 11, 2011 at 9:32 PM, Kaijen Hsiao <span dir="ltr"><<a href="mailto:hsiao@willowgarage.com">hsiao@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Hi Ugo,<br>
<div class="im"><br>
On Mon, Feb 7, 2011 at 10:20 AM, Ugo Cupcic <<a href="mailto:ugo@shadowrobot.com">ugo@shadowrobot.com</a>> wrote:<br>
> I'm not sure on which topic I should subscribe to visualize the<br>
> attached_object in rviz as well. (I looked at the tf but couldn't see any tf<br>
> moving with the model, once the hand has grasped the can).<br>
<br>
</div>Just noticed this last bit in your last email.  Hopefully you've<br>
figured it out already, but in case you haven't, you visualize<br>
attached objects the same way you visualize all the collision models<br>
that you've added to the collision environment.  In our setup, the<br>
topic is /collision_model_markers/environment_server but yours may<br>
vary if you've changed your setup significantly.  There's no separate<br>
tf frame associated with the object being broadcast.<br>
<font color="#888888"><br>
-Kaijen<br>
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</div></div></blockquote></div><br><br clear="all"><br>-- <br>Ugo Cupcic | Shadow Robot Company | <a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a> <br>Software Engineer | 251 Liverpool Road | <br>
need a Hand? | London N1 1LX | +44 20 7700 2487 <br><a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a> @shadowrobot <br><br>