Problem with visulizing mesh object in RVIZ

Quan Peng

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Sep 13, 2013, 5:09:04 PM9/13/13

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Hi everyone,

I followed the Environment Representation ROS API to add a collision object into planning scene. I created a simple mesh object and pass it to the /collision_object topic to add it. However, I don't know why I cannot visualize it. Following picture showed my problem. I can see the mesh object in current scene objects window, but I cannot see it in Views(the pink object is captured by Kinect).

Thanks for any help and have a good weekend,

Quan

Marcus Liebhardt

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Sep 15, 2013, 9:07:03 PM9/15/13

to Quan Peng, moveit-users

Quan,

I had no problems adding collision objects with meshes to the scene.

When you mark the mesh in the "Current Scene Object", you should see interactive markers showing up for that object in RViz. Can you see them? It might be just the case, that your object is hidden by the robot itself.

Best,
Marcus

--
Marcus Liebhardt
Control Engineer
Yujin Robot
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Email: marcus.l...@yujinrobot.com
Phone: +82-70-46577073

Ioan Sucan

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Oct 1, 2013, 8:07:50 AM10/1/13

to Quan Peng, moveit-users

It is also possible that the mesh created does not have enough sides to be visible. Please try to load a mesh from a CAD file or use a primitive shape to see if the problem is with the mesh or rendering.

mfr...@vt.edu

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Jan 30, 2014, 9:22:10 AM1/30/14

to moveit...@googlegroups.com, Quan Peng

Hey all,

I have a problem where I have imported a mesh object via the scene objects tab of the motion planning plug in of RVIZ. I see it in the current scene objects tab, however I do not know what commands in the move_group_interface C++ api would allow my robot to see the mesh object and attach its eef to it. Any advice would help.

Thanks

Mike

Martin Günther

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Jan 30, 2014, 10:46:04 AM1/30/14

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On Thu, 30 Jan 2014 06:22:10 -0800 (PST)
mfr...@vt.edu wrote:

> Hey all,
>
> I have a problem where I have imported a mesh object via the scene
> objects tab of the motion planning plug in of RVIZ. I see it in the
> current scene objects tab, however I do not know what commands in the
> move_group_interface C++ api would allow my robot to see the mesh
> object and attach its eef to it. Any advice would help.
>
> Thanks
> Mike

Hi Mike,

One important thing is that after you've loaded the mesh object, you
need to go back to the first tab and click "Publish Current Scene".
After that, you should see the object appear in the output of:

rosservice call /get_planning_scene '{components : {components: 24}}'

(For that to work, you need to add `move_group/MoveGroupGetPlanningSceneService`
to the capabilities in your move_group.launch).

Once that's working, you can use...

group.attachObject("object_name");

...to attach it to your EEF. The object_name is the same as in the RViz gui.

Cheers,
Martin

Sachin Chitta

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Jan 30, 2014, 1:34:22 PM1/30/14

to Martin Günther, moveit-users

You can also use the planning_scene_interface to interact with the objects in the planning scene:

Tutorial here: http://docs.ros.org/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html

(Look for the Adding/Removing Objects and Addding/Detaching Objects section)

Code API:
http://docs.ros.org/hydro/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1PlanningSceneInterface.html

BTW, I am tracking a lot of the discussion here and would be happy to add new API calls to both the move_group_interface and planning_scene_interface as people request them - just open an issue for the same.

Best Regards,
Sachin

mfr...@vt.edu

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Jan 30, 2014, 5:19:38 PM1/30/14

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Hey Martin,

The first thing I did was import the mesh object and use the publish current scene option. Next I used the command you said to use to see object by using the command rosservice call /get_planning_scene '{components : {components: 24}}' .

What I got was this:

scene:

name: ''

robot_state:

joint_state:

header:

seq: 0

stamp:

secs: 0

nsecs: 0

frame_id: ''

name: []

position: []

velocity: []

effort: []

multi_dof_joint_state:

header:

seq: 0

stamp:

secs: 0

nsecs: 0

frame_id: ''

joint_names: []

transforms: []

twist: []

wrench: []

attached_collision_objects: []

is_diff: False

robot_model_name: ''

fixed_frame_transforms: []

allowed_collision_matrix:

entry_names: []

entry_values: []

default_entry_names: []

default_entry_values: []

link_padding: []

link_scale: []

object_colors: []

world:

collision_objects:

-

header:

seq: 0

stamp:

secs: 0

nsecs: 0

frame_id: /base_link

id: box.stl

type:

key: ''

db: ''

primitives: []

primitive_poses: []

meshes:

-

triangles:

-

vertex_indices: [0, 1, 2]

-

vertex_indices: [2, 3, 0]

-

vertex_indices: [4, 5, 6]

-

vertex_indices: [6, 7, 4]

-

vertex_indices: [0, 4, 7]

-

vertex_indices: [7, 1, 0]

-

vertex_indices: [1, 7, 6]

-

vertex_indices: [6, 2, 1]

-

vertex_indices: [2, 6, 5]

-

vertex_indices: [5, 3, 2]

-

vertex_indices: [4, 0, 3]

-

vertex_indices: [3, 5, 4]

vertices:

-

x: 0.0499999783933

y: 0.049999974668

z: -0.0500000007451

-

x: 0.0499999783933

y: -0.0499999783933

z: -0.0500000007451

-

x: -0.0499999858439

y: -0.0499999709427

z: -0.0500000007451

-

x: -0.0499999597669

y: 0.0499999970198

z: -0.0500000007451

-

x: 0.0500000007451

y: 0.0499999523163

z: 0.0500000007451

-

x: -0.049999974668

y: 0.0499999783933

z: 0.0500000007451

-

x: -0.0499999970198

y: -0.0499999597669

z: 0.0500000007451

-

x: 0.0499999448657

y: -0.0500000081956

z: 0.0500000007451

mesh_poses:

-

position:

x: -3.9

y: 0.0

z: 0.7

orientation:

x: 0.0

y: 0.0

z: 0.0

w: 1.0

planes: []

plane_poses: []

operation: 0

octomap:

header:

seq: 0

stamp:

secs: 0

nsecs: 0

frame_id: ''

origin:

position:

x: 0.0

y: 0.0

z: 0.0

orientation:

x: 0.0

y: 0.0

z: 0.0

w: 0.0

octomap:

header:

seq: 0

stamp:

secs: 0

nsecs: 0

frame_id: ''

binary: False

id: ''

resolution: 0.0

data: []

is_diff: False

I was unable to verify if the box mesh I imported was found.

I made sure to add the capability in the move_group.launch file as well.

The next thing I did was I created a rosnode in which I tired to create a client of the getplanningscene service in C++. I was trying to output the names of the objects in the world. However at compile time it said that the service was not a apart of moveit_msgs. So I was wondering if you could tell me which class/library I needed to include in order for the compile time error to go away. I appreciate all the help you have offered and hope to get to a resolution soon.

Thanks

Mike

mfr...@vt.edu

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Jan 30, 2014, 5:30:17 PM1/30/14

to moveit...@googlegroups.com, Martin Günther

Hey Sachin,

I did use the planning_interface_planningsceneinterface library. This is what I did to try to get the names of the objects using that library:

std::vector<std:string> world_objects =planning_scene_interface.getKnownObjectNames();

This part worked however when I went to print out one of the names of the objects:

ROS_INFO("%s object",world_objects[0].c.str());

I got a segmentation fault at run time, so I am assuming I wasn't asking for the print statement correctly.

If I am able to find the names of the objects I still cannot get access to the collision object through this library correct? Such as finding the pose of the box?