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MoveIt Collision Avoidance With Point Cloud 2

asked 2014-10-23 14:14:52 -0500

airplanesrule gravatar image

Hi, I am attempting to set up a UR5 with MoveIt and an asus xtion for collision avoidance based on the sensor data in a Point Cloud 2 stream. I am stuck on how to publish the data from the point cloud 2 topic to moveit's planning scene so it can be used for collision checking. I currently have octomap installed and running and can generate an occupancy grid from the point cloud 2 stream, however octomap_server does not appear to be publishing any data to a topic moveit can use. Is there a way to publish the data either from the point cloud 2 or occupancy grid topics to moveit for collision avoidance? If so, where should I look?

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answered 2014-10-27 08:41:12 -0500

gvdhoorn gravatar image

updated 2017-10-18 02:29:33 -0500

130s gravatar image

You should not need to do anything with occupancy grids or point clouds yourself. Getting MoveIt to use the output of a RGBD sensor to construct Octomaps, add those to the planning scene and plan around them only takes a few lines of configuration.

See the 3D Perception/Configuration page and / or moveit/wiki/3D Sensors for information.

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I'm having the same problem, so it did not work. I followed the steps of the link. Would you help me?

Thadeu Brito gravatar image Thadeu Brito  ( 2017-07-07 16:48:13 -0500 )edit

@Thadeu Brito please open a new question, instead of asking one on comment section that is not meant for new questions and that doesn't get as much attention as new questions.

130s gravatar image 130s  ( 2017-10-18 02:30:56 -0500 )edit

I managed, using the perception pipeline, to have an octomap next to moveit and have it avoid static obstacles. The problem is that the octomap is only updated when the robot is not moving and cannot avoid new dynamic obstacles that get in the way during the execution of the move. I'm stuck here. I think it might be a solution to add collision objects to the planning scene from my pointcloud.

angcorcue2 gravatar image angcorcue2  ( 2023-05-17 09:10:16 -0500 )edit

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Asked: 2014-10-23 14:14:52 -0500

Seen: 3,401 times

Last updated: Oct 18 '17