"Did not get reply from planning scene client" when using CollisionModelsInterface

planning_environment

asked 2011-12-01 04:56:35 -0600

jbarry
280 ●8 ●16 ●21

updated 2011-12-01 04:57:23 -0600

Hi,

I have found that if a node creates a planning_environment::CollisionModelsInterface object and also calls the /environment_server/set_planning_scene_diff service, the service always reports that it is unable to get a reply from planning scene client with the name of the node. Specifically, if I run the pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch file and this piece of test code:


int main(int argc, char **argv) {
  ros::init(argc, argv, "planning_scene_test_node");
  ros::NodeHandle n;

  ros::ServiceClient scene_client =
    n.serviceClient<arm_navigation_msgs::setplanningscenediff>
    ("/environment_server/set_planning_scene_diff");
  ROS_INFO("Waiting for planning scene service");
  scene_client.waitForExistence();
  ROS_INFO("Planning scene service is now available");

  planning_environment::CollisionModelsInterface cmi("robot_description");
  arm_navigation_msgs::SetPlanningSceneDiff ssd;
  if (!scene_client.call(ssd)) {
    ROS_ERROR("Unable to set planning scene");
    return 1;
  }
  ROS_INFO("Successfully set planning scene");
  return 0;
}

the execution will pause for five seconds during the scene_client call and print the following to rosout:

[ INFO] [1322764074.606153612, 4535.143000000]: Successfully connected to planning scene action server for /planning_scene_test_node
[ INFO] [1322764080.585060399, 4540.165000000]: Did not get reply from planning scene client /planning_scene_test_node.  Incrementing counter to 1

The collision models interface declared within this node also does not update to the new planning scene and has to be set manually.

I am using 64-bit Ubuntu 10.04 and ROS electric. The version of the arm_navigation stack is 1.0.7-s1321929829~lucid.

Thanks,

Jenny

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#include <ros/ros.h> #include <arm_navigation_msgs/SetPlanningSceneDiff.h> #include <planning_environment/models/collision_models_interface.h> int main(int argc, char **argv) { ros::init(argc, argv, "planning_scene_test_node"); ros::NodeHandle n; ros::AsyncSpinner spinner(1); spinner.start(); ros::ServiceClient scene_client = n.serviceClient<arm_navigation_msgs::SetPlanningSceneDiff> ("/environment_server/set_planning_scene_diff"); ROS_INFO("Waiting for planning scene service"); scene_client.waitForExistence(); ROS_INFO("Planning scene service is now available"); planning_environment::CollisionModelsInterface cmi("robot_description"); arm_navigation_msgs::SetPlanningSceneDiff ssd; if (!scene_client.call(ssd)) { ROS_ERROR("Unable to set planning scene"); return 1; } ROS_INFO("Successfully set planning scene"); return 0; }

Comments

Oh, of course. Thank you. It's working for me too now.

jbarry ( 2011-12-01 07:15:12 -0600 )edit

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"Did not get reply from planning scene client" when using CollisionModelsInterface

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