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Arm Navigation Warehouse on the PR2

asked 2011-10-09 23:33:14 -0500

updated 2014-11-22 17:05:08 -0500

ngrennan gravatar image

On the PR2 I start:

roslaunch planning_scene_warehouse_viewer_pr2_real.launch

while on another computer, after setting

rosparam set warehouse_host c1

I run:

roslaunch planning_scene_warehouse_viewer_pr2_only.launch

The configuration interface shows correctly, but after clicking "accept" it hangs. I've checked that both {l-r}_arm_controller/follow_joint_trajectory are running (they are actions, not services as written in the tutorial).

What am I doing wrong? What is the correct procedure to launch the warehouse_viewer on the PR2?

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answered 2011-10-10 05:13:26 -0500

egiljones gravatar image


rxconsole should be giving you useful output, and the tutorial may be out of date for running on the robot. We had a good deal of success with people following the procedure outlined in this tutorial document: IROS tutorial document .

Note that if you look in the planning_scene_warehouse_viewer_pr2_only.launch file it specifically also sets the warehouse_host parameter, so your rosparam set is being overwritten. You'll need to edit the launch file to connect to a warehouse that's running on another machine. So I expect that's the problem - and that the rxconsole output will say something like "Connecting to warehouse..." forever. But it could also be something else - generally rxconsole will show useful debugging information whatever the problem.

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Great, it worked with the files provided in the tutorial. you should update the packages and the wiki. Thanks!
Lorenzo Riano gravatar image Lorenzo Riano  ( 2011-10-11 06:43:56 -0500 )edit

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Asked: 2011-10-09 23:33:14 -0500

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Last updated: Oct 10 '11