Problem with MoveIt! perception

asked 2015-07-10 03:52:41 -0600

nikitas350 gravatar image

I am trying to add perception capabilities to my MoveIt! configuration.

I am running ros indigo, and I currently have Gazebo running, with MoveIt! successfully talking to the controllers and moving the (simulated in Gazebo) robot.

In order to implement arm movements that do not collide with the environment, I added a camera (libgazebo_ros_openni_kinect.so) to my robot description, and followed the instructions from the MoveIt! tutorials.

Specifically, I added sensors_rgbd.yaml to config folder:

sensors: 
 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
   point_cloud_topic: /camera/camera/depth_registered/points
   max_range: 5.0
   point_subsample: 1
   padding_offset: 0.01
   padding_scale: 1.0
   filtered_cloud_topic: filtered_cloud

which is successfully loaded via the sensor_manager.launch.xml file (I can see the parameters loaded with rosparam). Moreover I have the following parameters set:

<param name="octomap_frame" type="string" value="ra_base_link" />
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />

where ra_base_link is a fixed frame in my robot.

I confirmed that the /camera/camera/depth_registered/points is indeed published correctly, but I get nothing (for the collision environment) neither in move_group/monitored_planning_scene nor in the RViZ environment.

Any suggestions?

Cheers,

Nikitas

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Comments

Did you add appropriate RViz plugins (e.g. PointCloud2) for visualization?

130s gravatar image130s ( 2016-02-05 03:33:42 -0600 )edit

And is your point_cloud_topic correct? I see duplicate "camera" prefix.

130s gravatar image130s ( 2016-02-05 04:09:03 -0600 )edit