Add RViz collision scene to Planning Scene

Hello,

I need to check collisions against a crowded environment. I want to add an already existing RViz collision scene to the planning scene. Is there a way to do this?

I know it is published to the /collision_scene topic so maybe there is a way to update the planning scene from a topic.

Thank you!

Asked by cpetlowany on 2019-04-03 14:20:38 UTC

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Answers

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)

Asked by AndyZe on 2019-04-04 14:55:02 UTC