Hi Ugo,<br><br>To see what the current state of the environment server is you have to run an another program in the planning environment package. Here's the contents of the launch file in planning_environment/launch/display_planner_collision_model.launch:<br>
<br><launch> <br> <node pkg="planning_environment" name="display_planner_collision_model_environment_server" type="display_planner_collision_model" respawn="false" output="screen"><br>
<param name="skip_collision_map" type="bool" value="false" /><br> <param name="prefix" type="string" value="/environment_server" /><br> </node><br>
</launch><br><br><br>This node calls services in the environment_server and broadcasts markers with the objects. You should see a marker topic after you launch this, and a collision map topic showing the state of the collision map the environment server uses.<br>
<br>Are you sure you are processing the kinect data through the appropriate set of self filters? You need to be filtering the robot and the attached objects out of the point cloud in order for the grasping pipeline to function. I'm attaching a couple very experimental launch files that should process the kinect data through the required pipeline to produce robot-free collision maps.<br>
<br>Let me know how it goes.<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>
<a href="tel:+16504759772" target="_blank">650.475.9772</a><br>
<br><br><div class="gmail_quote">On Mon, Feb 14, 2011 at 9:34 AM, Ugo Cupcic <span dir="ltr"><<a href="mailto:ugo@shadowrobot.com">ugo@shadowrobot.com</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;">
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<div><div></div><div class="h5"><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" target="_blank">hsiao@willowgarage.com</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;">Hi Ugo,<br>
<div><br>
On Mon, Feb 7, 2011 at 10:20 AM, Ugo Cupcic <<a href="mailto:ugo@shadowrobot.com" target="_blank">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>
</font><div><div></div><div>_______________________________________________<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>
</div></div></blockquote></div><br><br clear="all"><br></div></div>-- <br><div><div></div><div class="h5">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 | <a href="tel:+442077002487" target="_blank">+44 20 7700 2487</a> <br><a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a> @shadowrobot <br><br>
</div></div><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></blockquote></div><br>