Revision history [back]

The rule of thumb I'd use is if the object really exists and you'd like to include it in a number of subsequent queries then add it to the world using the collision_object topic. In reference to b.1., the planning_scene_validity_server should be broadcasting the latest planning_scene_information on a marker topic - the next time you start up the system try adding a marker topic and look for the one that involves "planning_scene".