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PointCloud2 exists, but NO Octomap in /move_group/monitored_planning_scene!!!!

asked 2020-07-14 00:58:47 -0500

yiying gravatar image

updated 2020-07-14 19:29:21 -0500

I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7.

My issue is exactly the same as this one from 5 years ago, but that question is never answered.

I added 3D perception to MoveIt following Perception Pipeline Tutorial.

Content of niryo_one_moveit_config/config/sensors_3d.yaml :

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

Content of niryo_one_moveit_config/launch/sensor_manager.launch.xml:

<launch>

  <!-- This file makes it easy to include the settings for sensor managers -->

  <!-- Params for 3D sensors config -->
  <rosparam command="load" file="$(find niryo_one_moveit_config)/config/sensors_3d.yaml" />

  <!-- Params for the octomap monitor -->
  <!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
  <param name="octomap_resolution" type="double" value="0.025" />
  <param name="max_range" type="double" value="5.0" />

  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
  <arg name="moveit_sensor_manager" default="niryo_one" />
  <include file="$(find niryo_one_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />

</launch>

It works for me, as shown in the following figure (I used RealSense plugin to simulate the camera). image description

And in /move_group/monitored_planning_scene, I had actual content in octomap:

name: "(noname)+"
robot_state: 
  joint_state: 
    header: 
      seq: 0
      stamp: 
        secs: 428
        nsecs: 194000000
      frame_id: "/world"
    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, gripper_joint, left_clamp_joint,
  left_rod_joint, right_gear_joint, right_clamp_joint, right_rod_joint]
    position: [0.0002741740361669187, -0.005544641035825748, -0.0047824728172924935, -0.004096483894079128, -0.009302052764738278, -0.0036276511038133563, 2.7370436193052683e-06, -4.863704734958674e-06, 3.8067452639012345e-06, 3.5276141945317363e-06, -4.115511588409504e-06, -4.813747795928691e-06]
    velocity: []
    effort: []
  multi_dof_joint_state: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: False
robot_model_name: "niryo_one"
fixed_frame_transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    child_frame_id: "/world"
    transform: 
      translation: 
        x: 0.0
        y: 0.0
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
allowed_collision_matrix: 
  entry_names: []
  entry_values: []
  default_entry_names: []
  default_entry_values: []
link_padding: []
link_scale: []
object_colors: []
world: 
  collision_objects: []
  octomap: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    origin: 
      position: 
        x: 0.0
        y: 0.0
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    octomap: 
      header: 
        seq: 0
        stamp: 
          secs: 0
          nsecs:         0
        frame_id: ''
      binary: False
      id: "OcTree"
      resolution: 0.025
      data: [-70, -76, 96, 64, -86, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, -32, 117, 0, 0, -64, -128, 117, 0, 0, -64, 64, 117, 0, 0, -64, 64, 117, 0, 0, -64, -64, 117, 0, 0, -64, -128, 117, 0, 0, -64, -32, ...]
      is_diff: True

However, when tested on hardware, the octomap is not shown. The only difference is the point cloud topic. On hardware, the topic name is ... (more)

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answered 2020-07-28 13:40:26 -0500

yiying gravatar image

Answering my own questions for the fourth time on this forum.

With all transforms available, the Octomap is up now. What happened is that not all the joints in the robot were published, even though the missing ones don't affect the tf of the camera link. See this for details.

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Asked: 2020-07-14 00:58:47 -0500

Seen: 110 times

Last updated: Jul 28 '20