Revision history [back]

For PlanningScenes maintained by the PlanningSceneMonitor, the parameters can be configured by ROS parameters. The code that parses the parameters can be found here: https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp#L1412

However, greping further through the code suggests that default_object_padd_ and default_attached_padd_ are not implemented though. They can be queried through getDefault*Padding, but are never used anywhere.

So you can set the default robot padding, scale, and their corresponding link versions through the parameters and these should be supported.

To set the parameters for a scene that is not maintained by the PSM, you have to set them for its RobotState directly: https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp#L198

For PlanningScenes maintained by the PlanningSceneMonitor, the parameters can be configured by ROS parameters. The code that parses the parameters can be found here: https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp#L1412

However, greping further through the code suggests that default_object_padd_ and default_attached_padd_ are not implemented though. They can be queried through getDefault*Padding, but are never used anywhere.

So you can set the default robot padding, scale, and their corresponding link versions through the parameters and these should be supported.

To set the parameters for a scene that is not maintained by the PSM, you have to set them for its RobotState directly: https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp#L198