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From: Sameer N. <eng...@ya...> - 2015-07-29 13:57:16
|
Hello, I've been almost new to ROS. My task is exactly similar to this package (Lightning ROS) but with Single robotic arm 7 DoF (Lwa 4 Schunk). My question is: how difficult or easy would it be to modify the existing package/code for my purpose? And what main changes do I require to make? Best Regards,Sameer M.Sc Student Information & Automation Engineering University of Bremen, Germany |
|
From: <cam...@be...> - 2012-07-08 23:11:05
|
Yes, it looks like that is the case. Try setting all of the goal points, including the torso and left arm, but just keep the torso and left arm in the same position. I believe the reason for the crash is that Lightning is trying to find 15 joint angles in the goal but the goal only has 7 elements, causing the 'index out of range' exception. The joint names list and the goal point should have a one-to-one matching (i.e. the i_th value in the goal point should be the desired position of the i_th joint in the joint names list). Also, did you run the 7 Dof test that was provided with the original package (roslaunch lightning table_test.launch or roslaunch lightning box_test.launch)? I just wanted to make sure that was working for you. Cameron > Hi, > I'm trying to use lightning to do single arm planning now. I get a > weird exception and it also is unable to plan (both for the RR and the > PFS). The log is below. > Is it possible that it is failing because we are giving it a 15 DoF > starting configuration (both arms and the torso), while only giving a > goal for the right arm? > > Here is the goal we're giving lighting. > [ INFO]: [node] [lightning_jc] [0] r_shoulder_pan_joint: 0.2136 > [ INFO]: [node] [lightning_jc] [1] r_shoulder_lift_joint: 0.9962 > [ INFO]: [node] [lightning_jc] [2] r_upper_arm_roll_joint: 0.0000 > [ INFO]: [node] [lightning_jc] [3] r_elbow_flex_joint: -1.4653 > [ INFO]: [node] [lightning_jc] [4] r_forearm_roll_joint: 2.9673 > [ INFO]: [node] [lightning_jc] [5] r_wrist_flex_joint: -0.5258 > [ INFO]: [node] [lightning_jc] [6] r_wrist_roll_joint: -1.9861 > > ----------------- > LOG > ----------------- > > [INFO] [WallTime: 1341551834.875331] [804.253000] Lightning: Sending goal > to RR > [INFO] [WallTime: 1341551834.945128] [804.276000] Lightning: Sending goal > to PFS > [INFO] [WallTime: 1341551835.886394] [804.983000] RR action server: RR > got an action goal > [INFO] [WallTime: 1341551835.911626] [804.926000] PFS action server: > PFS got an action goal > [INFO] [WallTime: 1341551836.055891] [805.213000] Path library: No > paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint', > 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', > 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', > 'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', > 'l_upper_arm_roll_joint', 'l_elbow_flex_joint', > 'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint', > 'torso_lift_joint'] > [INFO] [WallTime: 1341551836.056183] [805.213000] RR action server: > got an empty path for retrieve state > [INFO] [WallTime: 1341551836.082171] [805.099000] PFS action server: > acquiring planner > [INFO] [WallTime: 1341551836.093299] [805.099000] PFS action server: > got a planner > [INFO] [WallTime: 1341551836.178081] [805.304000] Lightning: Call to > RR did not return a path > [INFO] [WallTime: 1341551836.201547] [805.245000] Plan Trajectory > Wrapper: got a plan_trajectory request for > pfs_planner_node0/plan_kinematic_path with start = (-1.5, > 0.017997624551430391, -0.005238188295824564, -1.3999999999999999, > -1.3500000000000001, -0.27117550572608401, -0.50000208557577763, 1.5, > 1.0, 0.005683010665493704, -1.3999999999999999, > 0.00079943310185193195, -0.7439117804053561, 0.00049889278955195238, > 0.20999999999999999) and goal = (-0.25655307325063514, > -0.35280517626828445, -0.17925268031909347, -0.50835589553009353, > -2.5855129380065969, -0.87238740788264391, 2.945418173893243) > [ERROR] [WallTime: 1341551836.456685] [805.634000] Exception in your > execute callback: tuple index out of range > Traceback (most recent call last): > File > "/opt/ros/electric/stacks/common/actionlib/src/actionlib/simple_action_server.py", > line 294, in executeLoop > self.execute_callback(goal) > File > "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py", > line 96, in _get_path > unfiltered = self._call_planner(s, g, > action_goal.allowed_planning_time.to_sec()) > File > "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py", > line 82, in _call_planner > ret = self.plan_trajectory_wrapper.plan_trajectory(start, goal, > planner_number, self.current_joint_names, self.current_group_name, > planning_time, self.planner_config_name) > File > "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/tools/PathTools.py", > line 113, in plan_trajectory > temp_constraint.position = goal_point[i] > IndexError: tuple index out of range > > [INFO] [WallTime: 1341551836.494590] [805.678000] Lightning: Call to > PFS did not return a path > [INFO] [WallTime: 1341551836.511521] [805.686000] Lightning: did not find > a path > [INFO] [WallTime: 1341551846.795829] [812.336000] Lightning: Sending goal > to RR > [INFO] [WallTime: 1341551846.796301] [812.336000] Lightning: Sending goal > to PFS > [INFO] [WallTime: 1341551846.825316] [812.352000] PFS action server: > PFS got an action goal > [INFO] [WallTime: 1341551846.825673] [812.352000] PFS action server: > acquiring planner > [INFO] [WallTime: 1341551846.830657] [812.384000] RR action server: RR > got an action goal > [INFO] [WallTime: 1341551846.831015] [812.384000] Path library: No > paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint', > 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', > 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', > 'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', > 'l_upper_arm_roll_joint', 'l_elbow_flex_joint', > 'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint', > 'torso_lift_joint'] > [INFO] [WallTime: 1341551846.831214] [812.384000] RR action server: > got an empty path for retrieve state > [INFO] [WallTime: 1341551846.831941] [812.384000] Lightning: Call to > RR did not return a path > [INFO] [WallTime: 1341551876.797379] [836.726000] Lightning: ran out of > time > [INFO] [WallTime: 1341551877.014692] [836.866000] RR action server: RR > node got a stop message > [INFO] [WallTime: 1341551877.078359] [836.876000] PFS action server: > PFS node got a stop message > [ INFO]: rr_planner0 got a stop planning message > [ INFO]: rr_planner1 got a stop planning message > [ INFO]: pfs_planner0 got a stop planning message > > > > [ INFO]: Listening on rr_planner1 and stop_rr_planning for ompl ros > interface > [ INFO]: Collision check service: ready to check joint configurations > [INFO] [WallTime: 1341553378.201836] [2063.232000] Lightning: Sending goal > to RR > [INFO] [WallTime: 1341553378.202485] [2063.232000] Lightning: Sending > goal to PFS > [INFO] [WallTime: 1341553378.219800] [2063.247000] PFS action server: > PFS got an action goal > [INFO] [WallTime: 1341553378.220057] [2063.247000] PFS action server: > acquiring planner > [INFO] [WallTime: 1341553378.220269] [2063.247000] PFS action server: > got a planner > [INFO] [WallTime: 1341553378.220540] [2063.247000] Plan Trajectory > Wrapper: got a plan_trajectory request for > pfs_planner_node0/plan_kinematic_path with start = (-1.5, > 0.017997624551430391, -0.005238188295824564, -1.3999999999999999, > -1.3500000000000001, -0.27117550572608401, -0.50000208557577763, 1.5, > 1.0, 0.005683010665493704, -1.3999999999999999, > 0.00079943310185193195, -0.7439117804053561, 0.00049889278955195238, > 0.20999999999999999) and goal = (-0.25658442183287811, > -0.35281028018567451, -0.17925268031909347, -0.50832284815701723, > -2.5702508988451118, -0.87473974204444094, 2.9356195459473255) > [ERROR] [WallTime: 1341553378.221644] [2063.247000] Exception in your > execute callback: tuple index out of range > Traceback (most recent call last): > File > "/opt/ros/electric/stacks/common/actionlib/src/actionlib/simple_action_server.py", > line 294, in executeLoop > self.execute_callback(goal) > File > "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py", > line 96, in _get_path > unfiltered = self._call_planner(s, g, > action_goal.allowed_planning_time.to_sec()) > File > "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py", > line 82, in _call_planner > ret = self.plan_trajectory_wrapper.plan_trajectory(start, goal, > planner_number, self.current_joint_names, self.current_group_name, > planning_time, self.planner_config_name) > File > "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/tools/PathTools.py", > line 113, in plan_trajectory > temp_constraint.position = goal_point[i] > IndexError: tuple index out of range > > [INFO] [WallTime: 1341553378.223201] [2063.247000] Lightning: Call to > PFS did not return a path > [INFO] [WallTime: 1341553378.229770] [2063.247000] RR action server: > RR got an action goal > [INFO] [WallTime: 1341553378.230083] [2063.247000] Path library: No > paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint', > 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', > 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', > 'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', > 'l_upper_arm_roll_joint', 'l_elbow_flex_joint', > 'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint', > 'torso_lift_joint'] > [INFO] [WallTime: 1341553378.230289] [2063.247000] RR action server: > got an empty path for retrieve state > [INFO] [WallTime: 1341553378.231010] [2063.247000] Lightning: Call to > RR did not return a path > [INFO] [WallTime: 1341553378.231497] [2063.247000] Lightning: did not > find a path > [INFO] [WallTime: 1341553388.060248] [2070.144000] Lightning: Sending goal > to RR > [INFO] [WallTime: 1341553388.060712] [2070.144000] Lightning: Sending > goal to PFS > [INFO] [WallTime: 1341553388.067645] [2070.162000] RR action server: > RR got an action goal > [INFO] [WallTime: 1341553388.068008] [2070.162000] Path library: No > paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint', > 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', > 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', > 'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', > 'l_upper_arm_roll_joint', 'l_elbow_flex_joint', > 'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint', > 'torso_lift_joint'] > [INFO] [WallTime: 1341553388.068212] [2070.162000] RR action server: > got an empty path for retrieve state > [INFO] [WallTime: 1341553388.068848] [2070.162000] Lightning: Call to > RR did not return a path > [INFO] [WallTime: 1341553388.070916] [2070.162000] PFS action server: > PFS got an action goal > [INFO] [WallTime: 1341553388.071162] [2070.162000] PFS action server: > acquiring planner > [INFO] [WallTime: 1341553418.061517] [2098.126000] Lightning: ran out of > time > [INFO] [WallTime: 1341553418.068940] [2098.161000] RR action server: > RR node got a stop message > [ INFO]: rr_planner0 got a stop planning message > [ INFO]: rr_planner1 got a stop planning message > [INFO] [WallTime: 1341553418.070779] [2098.161000] PFS action server: > PFS node got a stop message > [ INFO]: pfs_planner0 got a stop planning message > > ------------------------------------------------------------------------------ > Live Security Virtual Conference > Exclusive live event will cover all the ways today's security and > threat landscape has changed and how IT managers can respond. Discussions > will include endpoint security, mobile security and the latest in malware > threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ > _______________________________________________ > LightningROS-users mailing list > Lig...@li... > https://lists.sourceforge.net/lists/listinfo/lightningros-users > |
|
From: Mike P. <mlp...@an...> - 2012-07-06 17:12:47
|
Hi,
I'm trying to use lightning to do single arm planning now. I get a
weird exception and it also is unable to plan (both for the RR and the
PFS). The log is below.
Is it possible that it is failing because we are giving it a 15 DoF
starting configuration (both arms and the torso), while only giving a
goal for the right arm?
Here is the goal we're giving lighting.
[ INFO]: [node] [lightning_jc] [0] r_shoulder_pan_joint: 0.2136
[ INFO]: [node] [lightning_jc] [1] r_shoulder_lift_joint: 0.9962
[ INFO]: [node] [lightning_jc] [2] r_upper_arm_roll_joint: 0.0000
[ INFO]: [node] [lightning_jc] [3] r_elbow_flex_joint: -1.4653
[ INFO]: [node] [lightning_jc] [4] r_forearm_roll_joint: 2.9673
[ INFO]: [node] [lightning_jc] [5] r_wrist_flex_joint: -0.5258
[ INFO]: [node] [lightning_jc] [6] r_wrist_roll_joint: -1.9861
-----------------
LOG
-----------------
[INFO] [WallTime: 1341551834.875331] [804.253000] Lightning: Sending goal to RR
[INFO] [WallTime: 1341551834.945128] [804.276000] Lightning: Sending goal to PFS
[INFO] [WallTime: 1341551835.886394] [804.983000] RR action server: RR
got an action goal
[INFO] [WallTime: 1341551835.911626] [804.926000] PFS action server:
PFS got an action goal
[INFO] [WallTime: 1341551836.055891] [805.213000] Path library: No
paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint',
'r_shoulder_lift_joint', 'r_upper_arm_roll_joint',
'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint',
'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint',
'torso_lift_joint']
[INFO] [WallTime: 1341551836.056183] [805.213000] RR action server:
got an empty path for retrieve state
[INFO] [WallTime: 1341551836.082171] [805.099000] PFS action server:
acquiring planner
[INFO] [WallTime: 1341551836.093299] [805.099000] PFS action server:
got a planner
[INFO] [WallTime: 1341551836.178081] [805.304000] Lightning: Call to
RR did not return a path
[INFO] [WallTime: 1341551836.201547] [805.245000] Plan Trajectory
Wrapper: got a plan_trajectory request for
pfs_planner_node0/plan_kinematic_path with start = (-1.5,
0.017997624551430391, -0.005238188295824564, -1.3999999999999999,
-1.3500000000000001, -0.27117550572608401, -0.50000208557577763, 1.5,
1.0, 0.005683010665493704, -1.3999999999999999,
0.00079943310185193195, -0.7439117804053561, 0.00049889278955195238,
0.20999999999999999) and goal = (-0.25655307325063514,
-0.35280517626828445, -0.17925268031909347, -0.50835589553009353,
-2.5855129380065969, -0.87238740788264391, 2.945418173893243)
[ERROR] [WallTime: 1341551836.456685] [805.634000] Exception in your
execute callback: tuple index out of range
Traceback (most recent call last):
File "/opt/ros/electric/stacks/common/actionlib/src/actionlib/simple_action_server.py",
line 294, in executeLoop
self.execute_callback(goal)
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py",
line 96, in _get_path
unfiltered = self._call_planner(s, g,
action_goal.allowed_planning_time.to_sec())
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py",
line 82, in _call_planner
ret = self.plan_trajectory_wrapper.plan_trajectory(start, goal,
planner_number, self.current_joint_names, self.current_group_name,
planning_time, self.planner_config_name)
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/tools/PathTools.py",
line 113, in plan_trajectory
temp_constraint.position = goal_point[i]
IndexError: tuple index out of range
[INFO] [WallTime: 1341551836.494590] [805.678000] Lightning: Call to
PFS did not return a path
[INFO] [WallTime: 1341551836.511521] [805.686000] Lightning: did not find a path
[INFO] [WallTime: 1341551846.795829] [812.336000] Lightning: Sending goal to RR
[INFO] [WallTime: 1341551846.796301] [812.336000] Lightning: Sending goal to PFS
[INFO] [WallTime: 1341551846.825316] [812.352000] PFS action server:
PFS got an action goal
[INFO] [WallTime: 1341551846.825673] [812.352000] PFS action server:
acquiring planner
[INFO] [WallTime: 1341551846.830657] [812.384000] RR action server: RR
got an action goal
[INFO] [WallTime: 1341551846.831015] [812.384000] Path library: No
paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint',
'r_shoulder_lift_joint', 'r_upper_arm_roll_joint',
'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint',
'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint',
'torso_lift_joint']
[INFO] [WallTime: 1341551846.831214] [812.384000] RR action server:
got an empty path for retrieve state
[INFO] [WallTime: 1341551846.831941] [812.384000] Lightning: Call to
RR did not return a path
[INFO] [WallTime: 1341551876.797379] [836.726000] Lightning: ran out of time
[INFO] [WallTime: 1341551877.014692] [836.866000] RR action server: RR
node got a stop message
[INFO] [WallTime: 1341551877.078359] [836.876000] PFS action server:
PFS node got a stop message
[ INFO]: rr_planner0 got a stop planning message
[ INFO]: rr_planner1 got a stop planning message
[ INFO]: pfs_planner0 got a stop planning message
[ INFO]: Listening on rr_planner1 and stop_rr_planning for ompl ros interface
[ INFO]: Collision check service: ready to check joint configurations
[INFO] [WallTime: 1341553378.201836] [2063.232000] Lightning: Sending goal to RR
[INFO] [WallTime: 1341553378.202485] [2063.232000] Lightning: Sending
goal to PFS
[INFO] [WallTime: 1341553378.219800] [2063.247000] PFS action server:
PFS got an action goal
[INFO] [WallTime: 1341553378.220057] [2063.247000] PFS action server:
acquiring planner
[INFO] [WallTime: 1341553378.220269] [2063.247000] PFS action server:
got a planner
[INFO] [WallTime: 1341553378.220540] [2063.247000] Plan Trajectory
Wrapper: got a plan_trajectory request for
pfs_planner_node0/plan_kinematic_path with start = (-1.5,
0.017997624551430391, -0.005238188295824564, -1.3999999999999999,
-1.3500000000000001, -0.27117550572608401, -0.50000208557577763, 1.5,
1.0, 0.005683010665493704, -1.3999999999999999,
0.00079943310185193195, -0.7439117804053561, 0.00049889278955195238,
0.20999999999999999) and goal = (-0.25658442183287811,
-0.35281028018567451, -0.17925268031909347, -0.50832284815701723,
-2.5702508988451118, -0.87473974204444094, 2.9356195459473255)
[ERROR] [WallTime: 1341553378.221644] [2063.247000] Exception in your
execute callback: tuple index out of range
Traceback (most recent call last):
File "/opt/ros/electric/stacks/common/actionlib/src/actionlib/simple_action_server.py",
line 294, in executeLoop
self.execute_callback(goal)
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py",
line 96, in _get_path
unfiltered = self._call_planner(s, g,
action_goal.allowed_planning_time.to_sec())
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py",
line 82, in _call_planner
ret = self.plan_trajectory_wrapper.plan_trajectory(start, goal,
planner_number, self.current_joint_names, self.current_group_name,
planning_time, self.planner_config_name)
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/tools/PathTools.py",
line 113, in plan_trajectory
temp_constraint.position = goal_point[i]
IndexError: tuple index out of range
[INFO] [WallTime: 1341553378.223201] [2063.247000] Lightning: Call to
PFS did not return a path
[INFO] [WallTime: 1341553378.229770] [2063.247000] RR action server:
RR got an action goal
[INFO] [WallTime: 1341553378.230083] [2063.247000] Path library: No
paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint',
'r_shoulder_lift_joint', 'r_upper_arm_roll_joint',
'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint',
'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint',
'torso_lift_joint']
[INFO] [WallTime: 1341553378.230289] [2063.247000] RR action server:
got an empty path for retrieve state
[INFO] [WallTime: 1341553378.231010] [2063.247000] Lightning: Call to
RR did not return a path
[INFO] [WallTime: 1341553378.231497] [2063.247000] Lightning: did not
find a path
[INFO] [WallTime: 1341553388.060248] [2070.144000] Lightning: Sending goal to RR
[INFO] [WallTime: 1341553388.060712] [2070.144000] Lightning: Sending
goal to PFS
[INFO] [WallTime: 1341553388.067645] [2070.162000] RR action server:
RR got an action goal
[INFO] [WallTime: 1341553388.068008] [2070.162000] Path library: No
paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint',
'r_shoulder_lift_joint', 'r_upper_arm_roll_joint',
'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint',
'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint',
'torso_lift_joint']
[INFO] [WallTime: 1341553388.068212] [2070.162000] RR action server:
got an empty path for retrieve state
[INFO] [WallTime: 1341553388.068848] [2070.162000] Lightning: Call to
RR did not return a path
[INFO] [WallTime: 1341553388.070916] [2070.162000] PFS action server:
PFS got an action goal
[INFO] [WallTime: 1341553388.071162] [2070.162000] PFS action server:
acquiring planner
[INFO] [WallTime: 1341553418.061517] [2098.126000] Lightning: ran out of time
[INFO] [WallTime: 1341553418.068940] [2098.161000] RR action server:
RR node got a stop message
[ INFO]: rr_planner0 got a stop planning message
[ INFO]: rr_planner1 got a stop planning message
[INFO] [WallTime: 1341553418.070779] [2098.161000] PFS action server:
PFS node got a stop message
[ INFO]: pfs_planner0 got a stop planning message
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From: <cam...@be...> - 2012-07-02 03:52:08
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Hi Mike, Thanks for your interest in Lightning! Most of the code doesn't assume that a PR2 arm is being used, so in theory there should be too many changes that are needed. I believe the changes that will need to be made are making the PlanTrajectoryWrapper in $(find lightning)/src/tools/PathTools.py call your planner and making the current collision checker (see $(find lightning)/src/tools/collision_checker.cpp) call your collision checker. Since Lightning retrieves multiple paths from the path library, it does do collision checking on those paths in parallel, so it may be difficult to get that to work with your collision checker (depending on how your checker works). Lightning can do this part serially, so it may be good to start from there. I haven't worked with the full PR2 body before, so unfortunately I can't be sure that the listed changes will suffice, but if you are willing to take a little time to try to make those changes, then I will happy to help you out as you do that. Let me know if you would like to keep going with this and I can list out some more specifics about the changes you will need to make. Thanks, Cameron > I am interested in trying out your Lightning package. It seems to be > set up for single arm planning for the PR2 but unfortunately, I have a > different domain (full body planning for the PR2). How difficult do > you think it would be to modify your planner to handle this different > state space? I already have it working with OMPL by itself (I've > defined the proper state space and have a collision checker) however I > did this without the use of ompl_ros_interface. > > Thanks! > -Mike- > > ------------------------------------------------------------------------------ > Live Security Virtual Conference > Exclusive live event will cover all the ways today's security and > threat landscape has changed and how IT managers can respond. Discussions > will include endpoint security, mobile security and the latest in malware > threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ > _______________________________________________ > LightningROS-users mailing list > Lig...@li... > https://lists.sourceforge.net/lists/listinfo/lightningros-users > |
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From: Mike P. <mlp...@an...> - 2012-06-29 22:20:09
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I am interested in trying out your Lightning package. It seems to be set up for single arm planning for the PR2 but unfortunately, I have a different domain (full body planning for the PR2). How difficult do you think it would be to modify your planner to handle this different state space? I already have it working with OMPL by itself (I've defined the proper state space and have a collision checker) however I did this without the use of ompl_ros_interface. Thanks! -Mike- |
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From: <cam...@be...> - 2012-05-15 08:01:30
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This is a test. Cameron |
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From: Dmitry B. <ber...@gm...> - 2012-05-14 03:26:11
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