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How to draw a CollisionObject from fcl library in Rviz?

asked 2015-02-19 05:02:21 -0600

RSA_kustar
275 ●47 ●49 ●60

I created a collision object from FCL library as follows:

        boost::shared_ptr<Sphere> Shpere0(new Sphere(0.5));
        Transform3f tf0 ; 
         tf0.setIdentity();
         tf0.setTranslation(Vec3f(0,0,0));
         tf0.setQuatRotation(Quaternion3f(0, 0, 0, 0));
         CollisionObject co0(Shpere0, tf0);

// I want to draw the Collision Object in Rviz..

Any suggestions ??

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