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Retrieve filtered point cloud from Moveit Planning Scene

asked 2015-02-02 09:55:03 -0500

Amine gravatar image

updated 2015-02-03 02:20:29 -0500


I added several sensor plugins into the occupancy_map_monitor of moveit. I have a generated occupancy map which i can visualize in RViz using /move_group/monitored_planning_scene topic

Is it possible to retrieve the filtered point cloud of the overall scene which is generated from all the sensors?


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answered 2015-02-02 10:53:31 -0500

gvdhoorn gravatar image

updated 2015-02-02 12:58:43 -0500

Is the filtered_topic what you are looking for? From

  • filtered_cloud_topic: If this parameter is specified, the filtered cloud (without robot parts) is also republished. This makes things a little less efficient but can be useful for debugging.

Edit: hm, this is only the point cloud after self-filtering, so may not be what you are after.

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This is the filtered point cloud from one sensor, and not from all sensors. I would like to have one topic for all filtered point clouds

Amine gravatar image Amine  ( 2015-02-03 02:21:15 -0500 )edit

You might also want to try and send a message to the moveit-users mailing list. But do please report back here if you get an answer there.

gvdhoorn gravatar image gvdhoorn  ( 2015-02-03 03:05:59 -0500 )edit

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Asked: 2015-02-02 09:55:03 -0500

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Last updated: Feb 03 '15