problem with pick and place application tutorial

asked 2012-07-11 13:09:25 -0500

Prashant
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updated 2012-07-30 12:39:42 -0500

Hi,

I am following the tutorial in the following link : http://www.ros.org/wiki/pr2_tabletop_manipulation_apps/Tutorials/Writing%20a%20Simple%20Pick%20and%20Place%20Application

I am using ROS electric and the robot is a simulated one in Gazebo. I launch the pr2_table_top_manipulation.launch as outlined in the tutorial.

When I try to run the program for the first time an error message is displayed saying "Collision map processing service failed".

When I try to run the program next time following message is displayed: "Waiting for collision processing service to come up" "waitForService: Service [/tabletop_collision_map_processing/tabletop_collision_map_processing] could not connect to host [rufus-uav:56243], waiting..."

Can anybody suggest what might be going wrong? Here is a link with the terminal outputs if anyone wants to have a look at it: http://prashanta-gyawali.blogspot.com/2012/07/picture-of-gazebo-with-pr2-and-terminal.html

Thanks

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answered 2012-07-14 13:08:56 -0500

hsiao
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Sounds like the collision map processing service crashed? There's not nearly enough info to tell what happened. Does this happen every time you run? Simulated or real robot? Electric or Fuerte? Did you launch the robot and pr2_tabletop_manipulation.launch first?

If you post a copy of the entire terminal output from where you launched pr2_tabletop_manipulation.launch and also where you ran the tutorial program online someplace and put a link in your comment, I'll take a peek and give you my best guess about what's going wrong.

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answered 2012-08-09 15:10:56 -0500

hsiao
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Hm. Stuff seems to work fine for me out of current Electric debians, launching pr2_table_object.launch in manipulation_worlds and then pr2_tabletop_manipulation.launch.

You do have to move the arms to the side first if you use that simulation, which that particular tutorial doesn't address. If you rosrun pr2_pick_and_place_demos pick_and_place_demo.py, then use the commands 'r', 'j', 'l', 'j' (right-arm move-to-side, left-arm move-to-side), it'll get both arms off to the side, then you can quit and run the tutorial code. Although there does seem to be an issue with the fingertip contacts jittering and causing the grasp to 'fail', which you can ask the code to ignore because it's actually fine (which is what we do in the pick and place demo), but that tutorial doesn't, alas.

Are you using the standard Electric debians? Do you have any code overlays?
Also, what is that simulation world you are launching?