Thanks,<br><br>There's a bit of a learning curve for formatting. It uses Markdown for formatting. For more info see <a href="http://en.wikipedia.org/wiki/Markdown">http://en.wikipedia.org/wiki/Markdown</a> Also the formatting buttons at the top of the text box are pretty helpful. <br>
<br>Tully<br><br><div class="gmail_quote">On Mon, Feb 28, 2011 at 9:33 AM, Felix Messmer <span dir="ltr"><<a href="mailto:felix_messmer@web.de">felix_messmer@web.de</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;">
ok, I did so....<br>
<br>
but the formatting is pretty ugly and I can't attach files (....yet)<br>
:(<br>
<div><div></div><div class="h5"><br>
<br>
<br>
<br>
<br>
On 2011-02-28 16:51, Sachin Chitta wrote:<br>
> Hi Felix,<br>
><br>
> Could you please ask this question on <a href="http://answers.ros.org" target="_blank">answers.ros.org</a>?<br>
><br>
> Thanks,<br>
> Sachin<br>
><br>
> On Mon, Feb 28, 2011 at 3:14 AM, "Felix Meßmer"<br>
<<a href="mailto:Felix_Messmer@web.de">Felix_Messmer@web.de</a>> wrote:<br>
> ><br>
> > Dear community,<br>
> ><br>
> > I have some questions about the trajectory_filter...<br>
> ><br>
> ><br>
> > First of all, here is how we currently set it all up:<br>
> ><br>
> > #######################<br>
cob_arm_navigation/cob3_trajectory_filter.launch #######################<br>
> ><br>
> > <launch><br>
> > <node pkg="trajectory_filter_server" name="trajectory_filter"<br>
type="trajectory_filter_server" output="screen"><br>
> > <!-- <rosparam command="load" file="$(find<br>
cob_arm_navigation)/config/joint_limits.yaml"/> --><br>
> > <rosparam command="load" file="$(find<br>
cob_arm_navigation)/config/filters.yaml"/><br>
> ><br>
> > <remap from="robot_description" to="robot_description" /><br>
> > <!--remap from="collision_map" to="collision_map_occ" /--><br>
> > <!--remap from="collision_map_update" to="collision_map_occ_update"<br>
/--><br>
> > <!--param name="refresh_interval_collision_map" type="double"<br>
value="0.0" /--><br>
> > <param name="refresh_interval_kinematic_state" type="double"<br>
value="1.0" /><br>
> > <param name="bounding_planes" type="string" value="0 0 1 -0.01" /><br>
> > <param name="compute_contacts" type="bool" value="false" /><br>
> ><br>
> > <!--param name="pointcloud_padd" type="double" value="0.00" /--><br>
> ><br>
> > <rosparam command="load" file="$(find<br>
cob_arm_navigation)/config/cob3_robot_padding.yaml" /><br>
> ><br>
> > </node><br>
> > </launch><br>
> ><br>
> ><br>
################################################################################<br>
> ><br>
> ><br>
> ><br>
> > ####################### cob_arm_navigation/filters.yaml<br>
#######################<br>
> ><br>
> > service_type: FilterJointTrajectoryWithConstraints<br>
> > filter_chain:<br>
> > -<br>
> > name: unnormalize_trajectory<br>
> > type: UnNormalizeFilterJointTrajectoryWithConstraints<br>
> > -<br>
> > name: cubic_spline_short_cutter_smoother<br>
> > type: CubicSplineShortCutterFilterJointTrajectoryWithConstraints<br>
> > params: {discretization: 0.01}<br>
> ><br>
> ><br>
########################################################################<br>
> ><br>
> ><br>
> > In cob_arm_navigation/cob3_move_arm.launch: <param<br>
name="trajectory_filter_allowed_time" type="double" value="2.0" /><br>
> ><br>
> > This is actually the configuration that I took from the<br>
pr2_arm_navigation tutorials a while ago...adopted to the<br>
care-o-bot...but I never looked into it more closely.<br>
> ><br>
> ><br>
> ><br>
> ><br>
> > When I now do planned motion using the OMPL planner or our own<br>
PRMCE planner (which I am currently implementing and testing; for the<br>
idea behind it see Leven<br>
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</div></div></blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>