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Either use the applyCollisionObjects method instead of addCollisionObjects or sleep again after you added the objects. The latter function runs asynchronously and your planning request probably arrives before your collision object is processed.

Also see http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates