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Collider usage [closed]

asked 2012-06-01 09:11:56 -0500

updated 2012-06-01 12:04:09 -0500

I'm capturing point cloud data from a kinect, from which I'd like to build a collision map in order to do planning. It seems the collider package is the appropriate thing to use, but without any documentation, I can't figure out how to get it to work. Has anyone used collider, and give an example of how to use it? I've created a launch file similar to the one here:

http://mirror.umd.edu/roswiki/collision_octomap.html

As well as a YAML file for specifying the point cloud source. However, when I try to run it, I get the following errors:

[ WARN] [1338577423.133577415]: No multi dof joints specified, including root to world conversion
[ WARN] [1338577423.134981502]: No groups for planning specified in /robot_description_planning/groups
[ WARN] [1338577423.135062448]: Can't do anything without a root transform
[ WARN] [1338577423.139176031]: No default collision operations specified

And the collision_map_out and point_cloud_out topics are not being published. How do I get this to work? It seems like it should be very simple.

EDIT: Thanks Armin, that works perfectly!

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Closed for the following reason the question is answered, right answer was accepted by Jeffrey Kane Johnson
close date 2013-02-04 03:47:26

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answered 2012-06-01 11:44:34 -0500

AHornung gravatar image

For that use case you can have a look at octomap_server, it should be easier to configure. It will integrate sensor data over time and also publish a collision map.

Collider is pretty geared towards the PR2's stereo sensor and arm_navigation.

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Asked: 2012-06-01 09:11:56 -0500

Seen: 256 times

Last updated: Jun 01 '12