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Which planning scene does Moveit! use to plan a collision-free path?

asked 2015-07-22 02:51:12 -0500

ljk gravatar image

Dear Community,

I am able to visualize the occupancy grid in rviz after launching moveit with a kinect.

There are two topics for the planning scene: 1. monitored_planning_scene: this one is updated if the env changes in real time 2. planning_scene: this one is kind of static

I want to know when using moveit! to perform collision-free path planning, eg. plan2 = group.plan() python api

Is the path planned against the monitored_planning_scene, which will reflect the current env or against planning_scene which is the first sight of the env when moveit! is launched?

Thank you so much for your help in advance!

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answered 2015-07-22 03:10:48 -0500

dornhege gravatar image

It is against the internal moveit planning scene. That should be the one on monitored_planning_scene. The planning_scene topic is an input for moveit, where you can provide changes to moveit's planning scene.

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Thank you so much for the answer, Dornhege!

ljk gravatar image ljk  ( 2015-07-22 05:33:57 -0500 )edit

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Asked: 2015-07-22 02:51:12 -0500

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Last updated: Jul 22 '15