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add self-defined objects into planning scene Rviz MoveIt!

asked 2015-06-30 15:23:31 -0500

Huitan gravatar image

Just like adding a box or a cylinder into the planning scene in Rviz, could anyone shed light on how to add self-defined objects to the planning scene so as to do collision detection and motion planning?

What I would like to add is a curved surface (a bezier surface). I can easily draw these curved surfaces using OpenGL, so is there a way to import them to the planning scene in Rviz?

I am thinking probably getting CAD models and importing CAD models is another way to solve the problem.

Any ideas would be appreciated.

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answered 2015-06-30 16:50:33 -0500

Huitan gravatar image

Importing mesh models to the planning scene is what I need :) Meshes in .stl, .dae and OGRE meshes are supported. Thanks for your attention!

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Asked: 2015-06-30 15:23:31 -0500

Seen: 1,340 times

Last updated: Jun 30 '15