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Reading bumper state from PR2

asked 2011-03-10 00:07:15 -0500

erikjber gravatar image

updated 2014-11-22 17:05:34 -0500

ngrennan gravatar image

System: Ubuntu 10.10, kernel 2.6.35-27, 64 bit.
ROS: Latest diamondback from the repositories.

I'm following the PR2 tutorial here:
http://www.ros.org/wiki/pr2_simulator/Tutorials/BasicPR2Controls

Everything works fine, I'm mostly interested in the gripper and I can open and close it using rostopic.

What I can't do is read the state of the bumper: when I execute rostopic echo l_gripper_l_finger_bumper/state I get the following error message:

WARNING: no messages received and simulated time is active.
Is /clock being published?

Executing rostopic echo /clock indicates that the clock is indeed being published.

Has anyone else gotten the bumper plugin to work? Any hints/tips?

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I can't find any reference to "bumper" on that page what makes you think that topic is being publshed?
tfoote gravatar imagetfoote ( 2011-03-10 13:01:39 -0500 )edit
I thought that since it is defined in the relevant .urdf.xarco and since the topic appears, it would be. But I see that I'm wrong. How can I enable the topic?
erikjber gravatar imageerikjber ( 2011-03-14 22:33:27 -0500 )edit

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answered 2011-03-25 06:46:43 -0500

hsu gravatar image

Hi, The plugin was not publishing if no contacts exists for the referenced body. I patched the plugin so bumper publishes regardless it is in contact or not, please see https://code.ros.org/trac/ros-pkg/ticket/4872">ticket #4872 and https://code.ros.org/trac/ros-pkg/changeset/36417">patch.

sorry for the confusion.

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Asked: 2011-03-10 00:07:15 -0500

Seen: 1,014 times

Last updated: Mar 25 '11