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MoveIt Collision Avoidance With Point Cloud 2

asked 2014-10-23 14:14:52 -0600

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 -0600

gvdhoorn gravatar image

updated 2017-10-18 02:29:33 -0600

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 imageThadeu Brito ( 2017-07-07 16:48:13 -0600 )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 image130s ( 2017-10-18 02:30:56 -0600 )edit

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Asked: 2014-10-23 14:14:52 -0600

Seen: 2,243 times

Last updated: Oct 18 '17