Shape clearance in collision map / octomap

Marcus Liebhardt

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Sep 8, 2013, 6:37:46 AM9/8/13

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Hi there!

A couple of times motion planning failed for me, because a few spots inside collision objects are not cleared in the collision map/octomap. This happened for both collision objects in the environment as well as attached collision objects.

I tried different parameters for shape_padding and shape_scale in the sensor.yaml without luck. Any idea why this is happening and how I could solve this problem?

Thanks!

Marcus

Marcus Liebhardt

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Sep 8, 2013, 6:46:18 AM9/8/13

to moveit-users

I'm not sure, if this is related, but I sometimes run into the problem that obstacles shadowed by an attached object are not cleared. The attached picture shows such a situation.

For the robot links these situations can be avoided by using the self see links, but I don't know how to fix this issue for attached objects.

Any ideas?

:-) Marcus

--
Marcus Liebhardt
Control Engineer
Yujin Robot
주소: 대한민국 서울시 금천구 가산동 345-30 남성프라자 #601, 153-023.
Address: Door #601, Namsung-Plaza, 345-30 Gasan-dong, Guemcheon-gu, Seoul, 153-023, Republic of Korea
Website: http://www.yujinrobot.com
Email: marcus.l...@yujinrobot.com
Phone: +82-70-46577073

collision_map_clearing_problem.png

Marcus Liebhardt

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Sep 24, 2013, 1:25:34 AM9/24/13

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Hi there!

Sorry to keep bothering you with this issues, but I couldn't find a way around this problem yet.

Has no one else problems with clearing the parts of the Octomap, which are inside and close to a collision object (in the world & attached)?

I attached few more pictures to visualise this problem.

Any help is appreciated!

Thanks,

Marcus

moveit_collision_object_clearing_issue_after_adding_back_cr.png

moveit_collision_object_clearing_issue_before_adding_cr.png

moveit_collision_object_clearing_issue_after_adding_front_cr.png

moveit_collision_object_clearing_issue_after_adding_closeup_cr.png

Steffen P

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Sep 27, 2013, 3:55:49 AM9/27/13

to moveit...@googlegroups.com

I sometimes have the same problem.

Michael Ferguson

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Sep 27, 2013, 3:57:18 AM9/27/13

to Steffen P, moveit-users

I posted in the ticket, for reference: https://github.com/ros-planning/moveit_ros/issues/315

Ioan Sucan

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Oct 1, 2013, 7:39:28 AM10/1/13

to Michael Ferguson, Steffen P, moveit-users

I replied to the ticket.

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