# Revision history [back]

Thanks for bringing this issue to my attention--it's been awhile since I updated simple_pick_and_place_example.py . I've updated the tutorial on the wiki here: http://www.ros.org/wiki/pr2_pick_and_place_demos/Tutorials/A%20Simple%20Pick%20And%20Place%20Example%20Using%20The%20Pick%20And%20Place%20Manager

There was also a minor bug in pr2_pick_and_place_manager with updating the place rectangle, which has now been fixed.

If you check out our Electric branch of pr2_object_manipulation:

svn co https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.5-branch pr2_object_manipulation

and then add that directory to your ROS_PACKAGE_PATH, you'll get fixed versions of both simple_pick_and_place_example.py and pr2_pick_and_place_manager.py . (You are indeed right about removing the take_static_collision_map = 1 argument, but you also want update_place_rectangle = 1.) (Those fixes will go out with the next release into debians.)

As for the tf error... erm. Wow. You should really not have to put a half-second sleep in between those two things. I can't replicate that error on my computer; could you please try, instead of adding the 0.5 sec sleep, changing the line just under the lookupTransform that says

except tf.Exception:

and switch it to

except (tf.Exception, tf.ExtrapolationException):

and let me know if that helps?

Also also, you may want to try launching your simulation with roslaunch manipulation_worlds pr2_table_object.launch instead of separately doing pr2 + table + coffee cup. (The coke can in that world has our grasping hack on it, which makes it easier for the robot to not drop it once it's picked up.)

 2 formatting hsu 5655 ●28 ●60 ●87

Thanks for bringing this issue to my attention--it's been awhile since I updated simple_pick_and_place_example.py . I've updated the tutorial on the wiki here: http://www.ros.org/wiki/pr2_pick_and_place_demos/Tutorials/A%20Simple%20Pick%20And%20Place%20Example%20Using%20The%20Pick%20And%20Place%20Manager

There was also a minor bug in pr2_pick_and_place_manager with updating the place rectangle, which has now been fixed.

If you check out our Electric branch of pr2_object_manipulation:

svn co https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.5-branch pr2_object_manipulationpr2_object_manipulation


and then add that directory to your ROS_PACKAGE_PATH, you'll get fixed versions of both simple_pick_and_place_example.py and pr2_pick_and_place_manager.py . (You are indeed right about removing the take_static_collision_map = 1 argument, but you also want update_place_rectangle = 1.) (Those fixes will go out with the next release into debians.)

As for the tf error... erm. Wow. You should really not have to put a half-second sleep in between those two things. I can't replicate that error on my computer; could you please try, instead of adding the 0.5 sec sleep, changing the line just under the lookupTransform that says

except tf.Exception:tf.Exception:


and switch it to

except (tf.Exception, tf.ExtrapolationException):tf.ExtrapolationException):


and let me know if that helps?

Also also, you may want to try launching your simulation with with

roslaunch manipulation_worlds pr2_table_object.launch


instead of separately doing pr2 + table + coffee cup. (The coke can in that world has our grasping hack on it, which makes it easier for the robot to not drop it once it's picked up.)