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A hacky way to ignore collisions with the environment (i.e. collisions that are caused by Octomap) is to clear octomap just before planning the motion. For C++:
system("rosservice call /clear_octomap");
| | 2 | No.2 Revision |
A hacky way to ignore collisions with the environment (i.e. collisions that are caused by Octomap) is to clear octomap just before planning the motion. For C++:
system("rosservice call /clear_octomap");
I'm using this just for my final Cartesian approach to a grasp. Obviously it's kinda dangerous.
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