Changing state to goal_state and there checking for collisions

asked 2015-05-26 06:13:14 -0500

bluefish gravatar image


I would like to check for collisions in the goal state before actually moving the real robot. In particular I want to check whether a specified point is in collision with the robot.

Therefore I have two questions:

  1. To achieve that I think I need to set the state of the robot to the goal state after I planned the path. So I'm looking for something like robot_state::RobotState& current_state = planning_scene.getCurrentState(); but for the goal_state. Is there a function like planning_scene.getGoalState() or similar? I can't find any...
  2. Being in the goal_state, I would like to check if a point would collide with the robot (in the goal_state). I'm looking for a function where I can insert a point x,y,z and it tells me whether this point is "inside" an object or free in space.

Does anybody knows whether this approach is actually doable with moveit?

edit retag flag offensive close merge delete