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Questions tagged [planning-scene]

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Asset not cached

I just installed webot R2023b. I tried to do the first tutorial task that involves importing the e-puck robot. I got an error message that says: ...
Aijay's user avatar
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Duplicate two different planning scenes with Moveit

i use ROS-Noetic in ubuntu 20.04 with moveit framework. I would like to duplicate a planning scene with moveit in order to have one planning scene which contains a static planning scene which i ...
Andrea Begni's user avatar
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Collision checking from joint state

I'm trying to check collision from a specific joint configuration. I followed the Planning Scene ROS API tutorial to add a collision box and Planning scene to check for robot collisions. With my code ...
Will's user avatar
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How to publish sdf file in moveit2?

I am using ros2 humble with gazebo fortress. I want to publish a plannig scene(/planning scene world, not sure which topic)in the moveit2. I have a sdf file of the world which includes some objects, ...
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How to disable collision between a link and a newly added collision object?

I have a scene with UR10 arm mounted on wall. I also have a table. I have this entire scene configured using moveit setup assistant. I launch the scene. I then run a node(part_spawner) which spawns a ...
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Collision between planning scene objects (e.g. CollisionObjectA and CollisionObjectB)

I was wondering if the Moveit API supports collision checking between two collision objects in a planning scene. The robot state does not come into the picture here - only two collision objects of ...
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1 answer
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Motion Planner unable to retreive the actual Robot State from the Planning Scene

I am having trouble executing a simple Point-To-Point movement-plan which was calculated by a planning_interface::MotionPlanRequest. The trajectory calculation succeeds, but when trying to execute it ...
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`tf static_transform_publisher` removes link instead of linking two tf trees

When using static_transform_publisher, attempting to link to coordinate systems via a common frame the publisher removes the link from one tree and places it in the ...
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Moveit import scene from text automatically

We can export and import Moveit scene objects to/from a text file (*.scene) using the RViz GUI (picture below). I would like to do the same automatically, so that the scene will be loaded on start. I ...
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1 answer
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MoveIt collision checking and planning scene update speed up

Hello, I am interested in speeding up the MoveIt pipeline of planning scene update and collision checking. I currently have a planning_scene_monior set up. For planning scene update and collision ...
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1 answer
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cannot show attached object in rviz

Hi. I'm working with rviz and moveit built from source for the kinetic-devel branch. For the rest of the stack, I'm using the binary packages. OS is Ubuntu xenial. When I attach objects to the robot ...
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Adding objects in MoveIt: fixed in the world while the mobile manipulator is moving: confusion with root_joint, planning_frame and srdf structure

Hi all, Sorry if this question is answered somewhere else, but I didn't find a clear answer. In the context of a mobile manipulator, we use move_base for base navigation and moveIt for arm planning. ...
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Keep track of the shortest distance to collision using python

Hi, I'm currently using the moveit_commander through python to command moveit, and everything works great. However, I want to calculate the shortest distance to collision along the planned trajectory. ...
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Collision checking for arbitrary poses using MoveIt! / PlanningSceneMonitor

I am having trouble figuring out the best way to check a bunch of poses for collisions (e.g., I have a self-made trajectory that I want to validate using the ...
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2 answers
40 views

Moveit planning scene collision padding

Moveit's planning scene has collision checking functions, some with and some without padding. Is the padding configurable and how big is it by default? Originally posted by BrettHemes on ROS Answers ...
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Collision Checking between collision object and object attached to the robot

Hi, I have writen a node for attaching a collision object to the planning scene. I am using the Apply Planning Scene service for that. Here is my node: ...
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1 answer
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Display MoveIt Collison Objects in Gazebo

How can i display collision objects i added to my MoveIt planning scene in Gazebo? I added them like: ...
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1 answer
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MoveIt Attach Object Error

Here is my node to add an object and attach it to the robot : ...
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1 answer
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Moveit PlanningSceneInterface addBox not showing in Rviz

My goal is to be able to add and remove object dynamically then do path planning. Even moving objects should be nice but I don't know if it's possible I want to add box or meshes to my Planning scene ...
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Moving a box using tf

Hi to all, I try to move a box in my planning scene using a tf-frame. But it's not working at the moment. I insert the box as shown in the moveit-tutorial and giving it a tf-frame additionally like ...
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1 answer
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error with new moveit_core 0.6.11

ros indigo ubuntu 14.04 trusty i have just installed moveit_core-indigo-devel 0.6.11. as i was facing the same error in "constraint_samplers::IKConstraintSampler::callIK with assertion validate(...
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1 answer
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Assimp and RViz will not import .scene file

I am trying to load a collision object into my hydraulic arm's planning scene, but it doesn't work with the pillar example provided for the baxter robot: ...
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2 answers
77 views

TF2 - static_transform_publisher - Extrapolation into the future

Hello, I have a couple of static_transform_publishers from the TF2 package running. How is it possible that a node complains about extrapolating into the future, when it tries to lookup a ...
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1 answer
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Collision is not detected with cylinder model

I am testing the arm_navigation's collision detection for a virtual object added to the planning scene and a virtual object attached to the robot. When using CYLINDER models, the collision detection ...
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Planning-Scene: Is it sufficient to publish to "collision_object"?

Hey guys, I am trying to add and move some objects to my planning_scene in MoveIt. Since I am currently running into weird errors, I wanted to know if it is correct, when I create my collision_object ...
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1 answer
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Import scene model into RVIZ/MoveIt

Hi all, I am wanting to launch RVIZ and have it import laboratory environment into the planning scene. I have a 3D model of the lab in SolidWorks and available as an STL. How can I do this? Are there ...
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How to get a vertice list from a .dae or .mesh file

Is there an easy way to have a vertice list from a .dae or .mesh file for importing into a planning scene as a CollisionObject? If I use the arm_navigation_msgs::Shape::MESH type, I have to provide a ...
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1 answer
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Planning scene (Get or Set)

Hello, I don't understand why there are examples with this definition: ...
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1 answer
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How to check whether a virtual object is colliding with another?

Hi All, I have to simulate a planning environment where objects whose poses are randomly determined are added. It is obvious to check if the just-added object is in collision with the robot, as in ...
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1 answer
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Can't remove added collision model

I am doing manipulation with the PR2, and have trouble with removing a collision model I added earlier. I realize that this might be because I don't fully comprehend how the arm_navigation stack works....
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2 answers
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Impossible to set a PlanningScene

Hi all. I'm trying to call the "environment_server/set_planning_scene_diff" service to get a PlanningScene to perform some collision checking. However, after a couple of days trying and ...
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1 answer
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Which is better: adding a new object to the planning_scene_diff or publishing it on a topic?

Hi All, For adding an object to the planning scene, which is better, in which case? (a) adding it to the planning_scene_diff (see this tutorial) or (b) publishing it on an arm_navigation_msgs::...
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1 answer
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Is it possible to configure environment server with empty collision map?

I have a robot with an arm_navigation stack configured to use a collision map, and it works fine. However, if arm_navigation is started with no visible environment obstacles, the environment server ...
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1 answer
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Clearing Collision Map of Planning Scene

Hi, Is there a simple way to reset the collision map of the planning scene? I am running tests where I do arm motion planning in an environment, then move an obstacle and do motion planning again. ...
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1 answer
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Adding Octomap data to planning scene in ROS Electric

I am trying to use data from an octomap for collision avoidance in arm_navigation. Octomap_server publishes a series of collision objects on the octomap_collision_object topic so I was hoping that I ...
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1 answer
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Error when using real robot data for planning_scene_warehouse_viewer

I want to use the arm_navigation_warehouse with our real robot and I don't get along this error. As the warehouse tutorial states, I start the ...
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1 answer
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Arm navigation with a virtual robot

I have read the tutorial on the new arm_navigation architecture, and I am really excited to try it out. As most tutorials have not been updated yet, do you have any code example that shows how to plan ...
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