Can't display occupied voxels octomap using pointcloud2
Fairly new to this so let me know if there's a better way of doing things!
I'm attempting dynamic collision avoidance with a Kinect V1 and the ur5 moveit package on ROS kinetic. The PC is running Ubuntu 16.04 and i have the following packages installed:
- camera_pose
- octomap_mapping
- octomap_ros
- OpenNI
- openni_camera
- perception_pcl
- robotiq
- trac_ik
- universal_robot
- ur_modern_driver
- ur_scripts
I've been following the ROS tutorial on perception/configuration (link below) in an effort to have moveit process the point cloud into an octomap and display the occupied voxels: http://docs.ros.org/kinetic/api/movei...
And am also aware of this other thread which is extremely similar, however i wasn't able to achieve a working result using just the information here: https://answers.ros.org/question/1957...
I have Openni working so can visualise the pointcloud2 okay in moveit and have completed all the steps in the above, including altering the sensor_manager.launch.yaml files. However when i echo the planning scene topic, /move_group/monitored_planning_scene, i am getting nothing. This is despite trying a number of static transform publishers to arrange everything with respect to /world (I would post images of my tf trees but i dont have enough karma).
The moveit! config files used can be found at: ( https://github.com/nis-ur/ur_kinect_m... )
As requested, the terminal log when i launch ur5 planning:
nvidia@tegra-ubuntu:~/catkin_ws$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
... logging to /home/nvidia/.ros/log/6ae42ada-891a-11e8-b1d3-62c9d7ce9d78/roslaunch-tegra-ubuntu-7323.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://tegra-ubuntu:38298/
SUMMARY
========
PARAMETERS
* /move_group/Manipulator/longest_valid_segment_fraction: 0.005
* /move_group/Manipulator/planner_configs: ['SBLkConfigDefau...
* /move_group/Manipulator/projection_evaluator: joints(shoulder_p...
* /move_group/allow_trajectory_execution: True
* /move_group/controller_list: [{'action_ns': 'f...
* /move_group/jiggle_fraction: 0.05
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
* /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
* /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
* /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
* /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
* /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
* /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
* /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
* /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
* /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
* /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
* /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
* /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
* /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
* /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
* /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
* /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
* /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
* /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
* /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
* /move_group/planner_configs ...
