ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
I was able to get the pose of the collision objects by making a service request to /get_planning_scene
. Added code snippet below.
get_planning_scene_client = collision_nh_.serviceClient<moveit_msgs::GetPlanningScene>("/get_planning_scene");
moveit_msgs::PlanningScene planning_scene_;
moveit_msgs::GetPlanningScene srv;
srv.request.components.components = moveit_msgs::PlanningSceneComponents::WORLD_OBJECT_GEOMETRY;
if (get_planning_scene_client.call(srv))
{
ROS_INFO("Got planning scene from move group.");
planning_scene_ = srv.response.scene;
}
else
{
ROS_ERROR("Failed to get planning scene from move group.");
}
geometry_msgs::Pose CollisionObjectMeshPose = planning_scene_.world.collision_objects[0].mesh_poses[0];
std::cout << CollisionObjectMeshPose << std::endl;