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visual tools is only for visualization purpose I believe. To add or remove collision objects you need to use PlanningSceneInterface, methods like addCollisionObjects and removeCollisionObjects

For collision checking you can use:

planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor)->checkCollision(collision_request,

collision_result);

In general, I would say:

• Use PlanningSceneInterface to add/remove objects to the scene.
• Use PlanningSceneMonitor to keep track of the updated planning scene. LockedPlanningSceneRO gives access to the up-to-date planning scene instance. From there you can do things like collision checking or other methods from planning scene.
• Use MoveGroupInterface to set targets, planners and do the actual motion planning

About the PlanningSceneMonitor tutorial, I agree it needs a comprehensive example so referring from PlanningScene tutorial makes sense.

visual tools is only for visualization purpose I believe. To add or remove collision objects you need to use PlanningSceneInterface, methods like addCollisionObjects and removeCollisionObjects

For collision checking you can use:

planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor)->checkCollision(collision_request,
planning_scene_monitor::LockedPlanningSceneRO(planning_scene_monitor)->checkCollision(collision_request, collsion_result)

collision_result);

In general, I would say:

• Use PlanningSceneInterface to add/remove objects to the scene.
• Use PlanningSceneMonitor to keep track of the updated planning scene. LockedPlanningSceneRO gives access to the up-to-date planning scene instance. From there you can do things like collision checking or other methods from planning scene.
• Use MoveGroupInterface to set targets, planners and do the actual motion planning

About the PlanningSceneMonitor tutorial, I agree it needs a comprehensive example so referring from PlanningScene tutorial makes sense.