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Just like adding a box or a cylinder into the planning scene in Rviz, could anyone shed light on how to add self-defined objects to the planning scene so as to do collision detection and motion planning?

What I would like to add is a curved surface (a bezier surface). I can easily draw these curved surfaces using OpenGL, so is there a way to import them to the planning scene in Rviz?

I am thinking probably getting CAD models and importing CAD models is another way to solve the problem.

Any ideas would be appreciated.

Originally posted by Huitan on ROS Answers with karma: 63 on 2015-06-30

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Importing mesh models to the planning scene is what I need :) Meshes in .stl, .dae and OGRE meshes are supported. Thanks for your attention!

Originally posted by Huitan with karma: 63 on 2015-06-30

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