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I would first copy your warehouse_viewer launch file to a new file, as you'll be making several changes, and the result will no longer work without a real robot in the loop.

In the copy, first these lines in your planning_scene_warehouse_viewer launch file:

 <include file="$(find planning_environment)/launch/environment_server.launch">
    <arg name="use_monitor" value="false" />
    <arg name="use_collision_map" value="false" />
  </include>

If you are running with real robot data, you'll need to change the "use_monitor" parameter to true - this will actually subscribe to the /joint_states message to populate the current position of the robot.

You'll also need to delete these two lines in the launch file:

<node pkg="planning_environment" name="wall_clock_server" type="fake_time.py" />

<node pkg="robot_state_publisher" type="state_publisher" name="rob_st_pub" />

If you like, you can also set your trajectory action parameter in this new file (use the entries for the left arm) and set this parameter so that you don't have to mess with the configuration screen:

<param name="use_robot_data" value="true"/>