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ipab-slmc / exotica

Extensible Optimization Framework
https://ipab-slmc.github.io/exotica
BSD 3-Clause "New" or "Revised" License
149 stars 70 forks source link

Obstacle does not display in RViz #710

Closed jackey984 closed 4 years ago

jackey984 commented 4 years ago

Thank you for developing this fantastic platform! I should know it earlier and would like to use it in my research project.

Currently I am playing around the example .launch files. To test OMPL PRM solver, I tried python_prm.launch which worked well. But I want to test without python binding, so modifying the .xml in cpp_ompl.launch: From: https://github.com/ipab-slmc/exotica/blob/80cc22b9717171a18bbf10291e50951532516eb3/exotica_examples/launch/cpp_ompl.launch#L11 To:

<param name="ConfigurationFile" type="string" value="$(find exotica_examples)/resources/configs/example_prm.xml" />

In RViz, the robot and path display correctly. However, the box obstacle does not show up. Any comment is appreciated! Thanks!

wxmerkt commented 4 years ago

Hi @jackey984, The C++ node advertises the obstacle topic in a different namespace - i.e., if you change the topic of the "SceneObjects" MarkerArray to /example_cpp_planner_node/CollisionShapes, you can see the box.

Do you mind asking me, how did you find out about Exotica?

Any other questions, please let me know.

Best wishes, Wolfgang

jackey984 commented 4 years ago

Thank you @wxmerkt for your prompt response and fix! Really appreciate!

We are a group of master students working on TurtleBot3. I am responsible for the motion planning part. We really like your paper "Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring" and want to try it! We also find out Exotica from that paper. Previously V-REP was used in our team, but lack of flexibility for research purpose. We want to switch to new platform like Exotica in the short future.

wxmerkt commented 4 years ago

Thank you for the insights and good luck. Please let us know if you have further questions or feedback :-)