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Hello,

I added several sensor plugins into the occupancy_map_monitor of moveit. I have a generated occupancy map which i can visualize in RViz using /move_group/monitored_planning_scene topic

Is it possible to retrieve the filtered point cloud of the overall scene which is generated from all the sensors?

Regards


Originally posted by Amine on ROS Answers with karma: 11 on 2015-02-02

Post score: 0

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Is the filtered_topic what you are looking for? From moveit.ros.org/wiki/3D_Sensors:

  • filtered_cloud_topic: If this parameter is specified, the filtered cloud (without robot parts) is also republished. This makes things a little less efficient but can be useful for debugging.

Edit: hm, this is only the point cloud after self-filtering, so may not be what you are after.


Originally posted by gvdhoorn with karma: 86574 on 2015-02-02

This answer was ACCEPTED on the original site

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Original comments

Comment by Amine on 2015-02-03:
This is the filtered point cloud from one sensor, and not from all sensors. I would like to have one topic for all filtered point clouds

Comment by gvdhoorn on 2015-02-03:
You might also want to try and send a message to the moveit-users mailing list. But do please report back here if you get an answer there.

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