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Although a late answer, i just find that you must set both use_collision_map and use_monitor to true. otherwise environment_server will not subscribe to collision_map. that's why the collision map is ignored.

Although a late answer, i just find that you must set both use_collision_map and use_monitor to true. otherwise environment_server will not subscribe to collision_map. that's why the collision map is ignored.ignored. Edit: to pedro: a good question. the reason is, when planning components visualizer starts, it will publish joint state. once environment server receive the joint state, it will start the service "register_planning_scene". but planning components visualizer need the service "register_planning_scene" to start itself. so they two fall into a dead lock. so the solution is, before planning components visualizer starts, run another node to publish the joint state to let environment server starts correctly. and when the param use_monitor is false, the start of environment server doesn't depend on the joint state. that's why there is no such a problem when use_monitor is false. hope that helps.

Although a late answer, i just find that you must set both use_collision_map and use_monitor to true. otherwise environment_server will not subscribe to collision_map. that's why the collision map is ignored. Edit: ignored.

Edit:

to pedro: a good question. the reason is, when planning components visualizer starts, it will publish joint state. once environment server receive the joint state, it will start the service "register_planning_scene". but planning components visualizer need the service "register_planning_scene" to start itself. so they two fall into a dead lock. so the solution is, before planning components visualizer starts, run another node to publish the joint state to let environment server starts correctly. and when the param use_monitor is false, the start of environment server doesn't depend on the joint state. that's why there is no such a problem when use_monitor is false. hope that helps.