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Have you followed the steps listed on the MoveIt Tutorials page: 3D Perception/Configuration? In particular, you need to configure a few additional launch file settings in your MoveIt package to properly integrate the point clouds with MoveIt:

1) Create a <moveit_package>/config/sensors.yaml file:

sensors: 
 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
   point_cloud_topic: /kinect/depth_registered/points
   max_range: 5.0
   point_subsample: 1
   padding_offset: 0.1
   padding_scale: 1.0

2) Edit the existing <moveit_package>/launch/<myrobot>_moveit_sensor_manager.launch.xml file:

<rosparam command="load" file="$(find <myrobot>_moveit_config)/config/sensors.yaml" />

3) Edit the existing <moveit_package>/launch/sensor_manager.launch.xml file to set octomap config:

<param name="octomap_frame" type="string" value="world_frame" />
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />