Which planning scene does Moveit! use to plan a collision-free path?
Dear Community,
I am able to visualize the occupancy grid in rviz after launching moveit with a kinect.
There are two topics for the planning scene: 1. monitoredplanningscene: this one is updated if the env changes in real time 2. planning_scene: this one is kind of static
I want to know when using moveit! to perform collision-free path planning, eg. plan2 = group.plan() python api
Is the path planned against the monitoredplanningscene, which will reflect the current env or against planning_scene which is the first sight of the env when moveit! is launched?
Thank you so much for your help in advance!
Asked by ljk on 2015-07-22 02:51:12 UTC
Answers
It is against the internal moveit planning scene. That should be the one on monitored_planning_scene. The planning_scene topic is an input for moveit, where you can provide changes to moveit's planning scene.
Asked by dornhege on 2015-07-22 03:10:48 UTC
Comments
Thank you so much for the answer, Dornhege!
Asked by ljk on 2015-07-22 05:33:57 UTC
Comments