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MoveIt: Octomap + Collision + Trajectory = Octomap being ignored!

asked 2014-03-24 04:06:08 -0600

Thrmotta gravatar image

updated 2016-10-24 08:36:36 -0600

ngrennan gravatar image

Hello Community!

Im currently working on a setup with MoveIt and an octomap being updated constantly, which works just fine, but now I need the robot to avoid the octomap points during planning and I just cant achieve it! The only way I've found so far to display the octomap was to download a Octomap Server, update it with PointCloud2 info and add the PointCloud2 Display at MoveIt, setting its topic to /octomap_point_cloud_centers. This visualization also works just fine, but how am I supposed to take octomap points into account when planning a trajectory? Those octomap points are just being ignored! Is there a way to display the Octomap with MotionPlanning or PlanningScene? How?

Let me know if there is anything else I can provide to make my problem clearer!

Thank you all!

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2 Answers

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answered 2014-03-25 03:38:26 -0600

davinci gravatar image

updated 2016-02-05 06:06:59 -0600

130s gravatar image

In arm navigation there was a simple setting in the launch file: use_collision_map if set to false the map was competently ignored. Perhaps there is a similar setting in MoveIt.

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answered 2014-03-25 03:31:45 -0600

AHornung gravatar image

As far as I know MoveIt builds its own internal state using OctoMap, so you need to configure MoveIt to listen to the point clouds. Otherwise you have to import the map itself from the octomap_binary topic somehow into MoveIt, not the (simplified) visualization of the point cloud centers.

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Asked: 2014-03-24 04:06:08 -0600

Seen: 1,971 times

Last updated: Feb 05 '16