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1 | initial version |
I'm not really familiar with this, but looking at the documentation for moveit_core::planning_scene, it has methods called getPlanningSceneMsg() and setPlanningSceneMsg(), so that seems promising.
Btw I found the API documentation just by googling "PlanningScene" -- it's the top hit
2 | No.2 Revision |
I'm not really familiar with this, but looking at the documentation for moveit_core::planning_scene, it has methods called getPlanningSceneMsg() and setPlanningSceneMsg(), so that seems promising.
Btw I found the API documentation just by googling "PlanningScene" -- it's the top hit
Edit: there's also the PlanningSceneInterface, presumably it makes this easier. It has a method applyPlanningScene (const moveit_msgs::PlanningScene &ps)