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2012-03-24 11:20:44 -0600 asked a question rviz MESH nans / infs Planning Scene

Hi!

I've been following the instructions from Adding Virtual Object to a Planning Scene.

I'm trying to add some meshes into the planning scene. However, even the simplest pyramid object ({0,0,1},{0,1,0},{1,0,0},{0,0,0}) does not work. At rviz, Planning Scene /planning_scene_markers topic's pole/0 displays error:

"Contains invalid floating point values (nans or infs)"

I tried loading some other established meshes by calling:

shapes::createMeshFromFilename("package://pr2_description/meshes/gripper_v0/l_finger.dae"

And I still get the same error. I appreciate any suggestions. Thank you!

2012-03-24 10:47:37 -0600 asked a question Adding known objects to collision environment problem

Hi!

I'm following the instructions at Adding Known objects to collision environment, but I couldn't find the bellow 2 launch files:

Start up the environment server

roslaunch pr2_arm_navigation_actions environment_server_right_arm.launch

Launch the display for known model markers (This node lets us visualize known model markers):

roslaunch planning_environment display_planner_collision_model.launch

So after I rosrun the add_cylinder in pr2_arm_navigation_tutorial, nothing will show up on rviz. Does anybody have an idea on where I can find the launch files??

2012-03-10 18:34:20 -0600 received badge  Editor (source)
2012-03-10 14:55:10 -0600 asked a question Add MESH into planning scene collision object FAILED

Hi all,

I've been trying to add meshes into collision object, but always get error: "Unable to compute convex hull"

trimesh_object.type = arm_navigation_msgs::Shape::MESH;
for (int i = 0; i < 3; i++) {
    geometry_msgs::Point p;
    p.x = i;
    p.y = i+1;
    p.z = i+2;
    trimesh_object.vertices.push_back(p);
}

// then add {0, 1, 2} into trimesh_object.triangles
// ...

collision_object.shapes.push_back(trimesh_object);

geometry_msgs::Pose pose;
collision_object.poses.push_back(pose);

...

planning_scene_req.planning_scene_diff.collision_objects.push_back(collision_object);
get_planning_scene_client.call(planning_scene_req, planning_scene_res) ...

I've followed the instructions on Tutorials/PlanningScene/AddingVirtualObjectsToThePlanningScene

All I'm trying to do is just to add a simple triangle into the scene, but so far no luck. The above code just adds {0,1,2},{1,2,3},{2,3,4} into it. I also tried {0,0,1},{0,1,0},{1,0,0}. Nothing works.

I don't get why there's "unable to compute convex hull" error. Thanks in advance.

Best, Paul