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The arm navigation warehouse viewer does exactly this and a lot more. The tutorial on it is a little out of date, but still should largely work: http://www.ros.org/wiki/arm_navigation/Tutorials/Warehouse%20Viewer .

Make sure to update your debs as we just released the arm_navigation_experimental stack with some important bug fixes.

Look particularly at Section 4.2.3 . This script now creates a planning_scene_warehouse_viewer_<your_robot_name>.launch file in your auto-generated arm navigation application directory which you can run directly. Running alongside a running system should just involve filling out topics for your controllers and selecting the "Use Robot Data" flag.

We'll be updating the tutorial soon.