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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.)

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.)