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How to give Octomap data to the Planning Scene? (MoveIt!)

asked 2017-10-25 13:16:53 -0500

MRV gravatar image

Hello,

I'm relatively new to MoveIt and ROS. For the past week, I have been trying to configure the 3D sensor (a Kinect) on my robot model to work in MoveIt!, following the tutorial here. Additionally, I created a node to launch the Octomap Server.

However, after completing these steps and firing up MoveIt!/Rviz with Gazebo, the Planning Scene doesn't contain any 3D data. I have checked the topics list, and my simulated robot is publishing the correct PointCloud2 data, and the Octomap server is running and publishing correct occupancy maps. What else is needed to get Octomap to publish the data to the Planning Scene?

Code:

config/sensors_kinect.yaml

sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /kinect/depth/points
    max_range: 5.0
    point_subsample: 1
    padding_offset: 0.1
    padding_scale: 1.0
    filtered_cloud_topic: filtered_cloud

launch/sensor_manager.launch.xml

<launch>

  <rosparam command="load" file="$(find inmoov_moveit)/config/sensors_kinect.yaml" />

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

</launch>
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2 Answers

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answered 2017-12-20 11:43:38 -0500

MRV gravatar image

After talking to some people on the MoveIt Github repository and working through the issue for a bit, I figured out what I was doing wrong. (Mostly, it was a problem with my launch file)

Details here.

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answered 2018-05-20 11:26:45 -0500

zdw gravatar image

i have the same problem now

"After fixing that, it gave me the new error that the Fixed Frame [map] does not exist, so I added a static transform publisher and a joint state publisher"

i'm not familiar with ros, could you tell me some detail about“added a static transform publisher”and“joint state publisher"

how to set parameter in rviz to show octomap? thank u

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Comments

Based on my understanding the "Fixed Frame [map] does not exist" error comes up because the fixed frame is set to "map", but nothing is publishing what "map" is. You need to use a static transform publisher to give a transform for "map". Look here: http://wiki.ros.org/tf#static_transfo...

MRV gravatar image MRV  ( 2018-06-07 15:56:40 -0500 )edit

If I remember correctly, I added the joint state publisher because it wasn't being launched elsewhere and it's necessary. If you want to see what I did, it's here: https://github.com/MatthewVerbryke/in...

MRV gravatar image MRV  ( 2018-06-07 16:01:53 -0500 )edit

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Asked: 2017-10-25 13:16:53 -0500

Seen: 6,337 times

Last updated: May 20 '18