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[moveIt] Prevent motions through unknown areas? [closed]

asked 2014-11-09 07:42:27 -0500

Rabe gravatar image

updated 2014-11-09 07:42:37 -0500

Hey everyone,

I was just wondering if there is a feature implemented into MoveIt, that prevents the robot from going through unknown areas? My 3D-Camera feeds the DepthImageOctomapUpdater plugin, which as far as I know differentiates between "empty" "full" and "unknown", so in theory it should be possible, right?

Thanks in advance,

Rabe

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Closed for the following reason the question is answered, right answer was accepted by Rabe
close date 2014-11-11 07:39:06.345942

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answered 2014-11-11 07:38:42 -0500

Rabe gravatar image

According to the MoveIt-Concepts it is possible to do that via the "Visibility Constraints":

http://moveit.ros.org/documentation/c...

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Asked: 2014-11-09 07:42:27 -0500

Seen: 114 times

Last updated: Nov 11 '14