[ros-users] Collisions Outside the Bounding Box (planning_environment)

[David Lu!!]

Hey all,
As I mentioned in another thread, I'm having a problem with collision
detection. I want to test to see if the robot is colliding with itself. I've
loaded the URDF into robot_description, I'm publishing joint_states, I've
set default_collision_operations, and defined groups. Here's how I'm
launching planning_environment.

<node pkg="planning_environment" type="environment_server" output="screen"
name="environment_server_myrobot">
   <param name="group" type="string" value="myrobot" />
<param name="allow_valid_collisions" type="bool" value="false" />
 <param name="collision_map_safety_timeout" type="double" value="100000.0"
/>
<param name="joint_states_safety_timeout" type="double" value="1.0" />
 <param name="bounding_planes" type="string" value="0 0 1 -0.01" />
<param name="pointcloud_padd" type="double" value="0.00" />
 <param name="use_collision_map" value="false" />
<param name="contacts_to_compute_for_display" type="int" value="50" />
        </node>

My robot generously fits into a 2 meter cube. However, when I run collision
detection (i.e. call GetStateValidity), the collisions the algorithm finds
are far outside the 2 meter cube. Here's one marker:
---
header:
  seq: 150
  stamp:
    secs: 1281057846
    nsecs: 457145271
  frame_id: BASE_FRAME
ns: PIECE1+PIECE2
id: 150
type: 2
action: 0
pose:
  position:
    x: -67.8300476074
    y: -29.5642662048
    z: 11.4108705521
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0
scale:
  x: 0.01
  y: 0.01
  z: 0.01
color:
  r: 1.0
  g: 0.800000011921
  b: 0.0399999991059
  a: 0.600000023842
lifetime:
  secs: 0
  nsecs: 0
frame_locked: False
points: []
colors: []
text: ''
mesh_resource: ''
mesh_use_embedded_materials: False

Why would there be a collision all the way out there? My only thought is
that all of my meshes are scaled to a factor of .01, but even manually
scaling the markers down by that much, they don't correspond with the space
that the robot occupies.
Any thoughts?

-David!!
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