how to publish current scene in c++

asked 2015-01-11 22:05:51 -0600

andsok75 gravatar image

If I launch rviz with

roslaunch ur5_moveit_config demo.launch limited:=true

I can then open 'Scene Object' tab and import a file with a constraint object. After that I can go back to the Context tab and publish the current scene by pressing a button. How do I achieve the same effect in a c++ code?

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