Hi,
I would like to add Collision objects to the planning scene, similar to how it was previously possible in Electric+arm_navigation (see code ). However, I did not get the code to work because the headers are deprecated in Groovy and MoveIt. Does anyone have an idea how to do a similar thing in Groovy+MoveIt?
Originally posted by Wouter on ROS Answers with karma: 130 on 2013-02-27
Post score: 0
Sorry for the late reply, but here it is:
You can do this in two ways: either you publish a CollisionObject message on the /collision_object topic, or, you can call processCollisionObjectMsg() function directly on the PlanningScene, if you are in the same process. Furthermore, you can do something like: planning_scene->getWorld()->addToObject("object_name", Shape, Pose);
Originally posted by isucan with karma: 1055 on 2013-03-18
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Post score: 2
Comment by Wouter on 2013-04-15:
Thanks for your comment isucan. I would like to add a cylinder (shape primitive) as collision object, but I am struggling to write a cpp file similar to the tutorial 'Adding known objects to the collision environment'. As far as I know, such an example does not exist for MoveIt, or do I miss somethi
Very late reply, but I just created an easy helper function to publish a collision cylinder https://github.com/davetcoleman/moveit_visual_tools
Originally posted by Dave Coleman with karma: 1396 on 2014-04-05
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Post score: 1