environment_server doesn't subscribe to collision_map

Question

I want to generate a collision map from kinect's pointcloud and use this info to do a collision-free arm navigation. so i write a node to receive pointcloud from kinect and publish collison_map with the topic "collision_map_occ". i think i've done this correctly because i can see these collision map green boxes in rviz. but it seems that environment_server doesn't subscribe to the collision_map topic. i'm sure that the param use_collision_map is set to true. does anybody know why?

besides, according to this tutorial, "If the use_collision_map parameter for the environment_server is set to true there must be a supplier of the CollisionMap or the environment_server will not start", but after i stop the collision_map publisher, the environment_server can still start successfully.

btw, i'm using Fuerte on Ubuntu12.04

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Originally posted by yangyangcv on ROS Answers with karma: 741 on 2012-10-09

Post score: 0

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Original comments

Comment by jbohren on 2012-10-11:
Can you post your edit as an answer to your own question, and then accept it? That way it will show up as "answered" in the list.

Answer 1

After digging into the src of environment_server, i find that to make environemnt_server subscribe to collision_map, one must set both use_monitor and use_collision_map to true. so i just leave this question here in the hope that it can help other people.

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Originally posted by yangyangcv with karma: 741 on 2012-10-11

This answer was ACCEPTED on the original site

Post score: 0