ROS electric arm navigation programmatically adding collision object
Hi all,
I'm a little unsure of the proper way to programmatically insert my own custom meshes into the planning scene environment for the ROS electric arm_navigation package. I've been able to insert my own objects in using the planning scene viewer GUI (loading an STL file) but how would I do this programmatically? For instance, I have a model of some object that I want to plan around and I can recognize and align to sensory data, and I want to insert this object into the planning environment when I've recognized it in the scene. What is the correct way to go about doing this? Thanks!
I would also like to add Collision objectss to the planning scene using the code below, but with ROS Groovy and MoveIt. So far I did not get it to work because the headers are deprecated in Groovy and MoveIt. Does anyone have an idea how to do a similar thing in Groovy+MoveIt?
@Ibrahim i am new in ROS and now i am doing motion planing for my Robotic arm . i Generate all the Moveit configuration files .Now i want to insert a Environment . HOW i can load that STL file in mine Moveit demo.launch File