how to remove collision objects from Rviz by code

Question

Hi all,

I was wondering if a function able to remove collision objects from world do exists...

because the

planning_scene_interface.removeCollisionObjects(object_ids)

function requires at least 0.4/0.5 seconds delay to be effective on Rviz, but my target is to remove it istantaneously. I know there was a similar issue with the placement of an object in the world, because also the function

addCollisionObjects

requires that delay in order to be effective in Rviz. But this has been solved by using another function:

applyCollisionObject

So if anyone has ever dealt with these things please try to help me. Thanks in advance.

ROS Kinetic, Ubuntu version 16.04

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Originally posted by enrico on ROS Answers with karma: 117 on 2018-09-05

Post score: 1

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Original comments

Comment by fvd on 2020-10-18:
Also referenced in this follow-up question

Answer 1

You can use bool applyCollisionObject(const moveit_msgs::CollisionObject& collision_object); by specifying collision_object.operation = collision_object.REMOVE; when you create the moveit_msgs::CollisionObject

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Originally posted by aPonza with karma: 589 on 2018-12-05

This answer was ACCEPTED on the original site

Post score: 1