moveit 3d感知碰撞检测

Gene

自己想将RGBD相机点云或深度信息生成octomap八叉树地图，用于机械臂碰撞检测，但无论是订阅点云话题还是深度话题生成八叉树地图都有问题。

一、使用点云

1. 文件描述

sensors_3d.yaml文件配置如下：

sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
point_cloud_topic: /camera/depth/cloudpoint
max_range: 3.0
point_subsample: 1
padding_offset: 0.1
padding_scale: 1.0
max_update_rate: 1.0
filtered_cloud_topic: filtered_cloud

robot_moveit_sensor_manager.launch文件配置如下：

<launch>
   <param name="octomap_frame" type="string" value="base_link" />                                           
    <param name="octomap_resolution" type="double" value="0.05" />                                              
    <param name="max_range" type="double" value="5.0" />
    <rosparam command="load" file="$(find robot_moveit_config)/config/sensors_3d.yaml" />                   
</launch>

2. 问题描述

启动机械臂及相机，出现error：[ERROR] [1678174747.334384818]: Failed to configure updater of type PointCloudUpdater

[ INFO] [1678174747.022084250]: rviz version 1.13.29
[ INFO] [1678174747.022134909]: compiled against Qt version 5.9.5
[ INFO] [1678174747.022151616]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1678174747.029645233]: Forcing OpenGl version 0.
[ INFO] [1678174747.175785274]: Stereo is NOT SUPPORTED
[ INFO] [1678174747.175842817]: OpenGL device: Mesa DRI Intel(R) UHD Graphics (CML GT2)
[ INFO] [1678174747.175865405]: OpenGl version: 3.0 (GLSL 1.3).
[ INFO] [1678174747.321073047]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1678174747.322693162]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1678174747.322725369]: Starting planning scene monitor
[ INFO] [1678174747.324119190]: Listening to '/planning_scene'
[ INFO] [1678174747.324139491]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1678174747.325355360]: Listening to '/collision_object'
[ INFO] [1678174747.326541067]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1678174747.334384818]: Failed to configure updater of type PointCloudUpdater
[ INFO] [1678174747.456998534]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1678174747.481787855]: Initializing OMPL interface using ROS parameters
[ INFO] [1678174747.502816196]: Using planning interface 'OMPL'
[ INFO] [1678174747.505507704]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1678174747.505976933]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1678174747.506200453]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1678174747.506649315]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1678174747.506877803]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1678174747.507102889]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1678174747.507147464]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1678174747.507166812]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1678174747.507180821]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1678174747.507195990]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1678174747.507212386]: Using planning request adapter 'Fix Start State Path Constraints'

二、使用深度图

1. 文件描述

sensors_3d.yaml文件配置如下：

sensors:
  - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
    image_topic: /camera/depth/depth_raw
    queue_size: 5
    near_clipping_plane_distance: 0.3
    far_clipping_plane_distance: 5.0
    shadow_threshold: 0.2
    padding_scale: 4.0
    padding_offset: 0.03
    filtered_cloud_topic: filtered_cloud

robot_moveit_sensor_manager.launch文件配置如下：

<launch>
   <param name="octomap_frame" type="string" value="base_link" />                                           
    <param name="octomap_resolution" type="double" value="0.05" />                                              
    <param name="max_range" type="double" value="5.0" />
    <rosparam command="load" file="$(find robot_moveit_config)/config/sensors_3d.yaml" />                   
</launch>

2. 问题描述

启动机械臂及相机，出现error：[ERROR] [1678175912.985854565]: Unexpected encoding type: 'mono16'. Ignoring input.,看着这原因应该是深度图输入格式有问题，是修改相机深度图编码格式吗？还是说，octomap 深度图订阅可以修改输入深度图格式？

face39a2-38c3-4f29-b3c1-1bd5463f3e11-图片.png

请教大佬，这两种订阅话题格式出现的问题是由于什么原因导致的？还请指点一下解决方法，感谢！