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Ah - now I understand. That's actually pretty straightforward - what I would do is combine the tutorials for adding a virtual object and checking state validity. Adding the virtual object in the planning_scene_diff portion of the planning scene message means that a planning scene will be returned to you that contains the new object. You then create a CollisionModels class and call setPlanningScene with the returned planning scene. The instance of CollisionModels will now contain the object at whatever position you've specified in the planning_scene_diff, and you can make collision checks for individual states or the entire trajectory as you like.

Note that you should use the service /environment_server/get_planning_scene as opposed to /environment_server/set_planning_scene_diff if you care about efficiency - the former will just return to you a merged planning scene, whereas the later will also forward the planning scene to all the other arm navigation components, which takes additional time.

You first call the get_pl