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How to add multiple objects to MoveIt Planning Scene?

moveit

asked 2016-10-03 07:51:51 -0500

rohin

97 ●8 ●11 ●17 http://nymble.in/

I am unable to add multiple objects to MoveIt planning scene. Using the Move Group C++ API, I do:

moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
moveit_msgs::CollisionObject co, co2;

..
..
Fill in the fields of moveit_msgs co & co2

.. ..

co.operation = co.ADD;
co2.operation=co2.ADD;

std::vector<moveit_msgs::CollisionObject> collision_objects;
collision_objects.push_back(co);
collision_objects.push_back(co2) ;

ROS_INFO("Add an object into the world");
planning_scene_interface.addCollisionObjects(collision_objects);

sleep(2.0);

When I run it, only one collision object appears i.e. co2 .

I can not figure out what am I missing. Please help me out.

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1 Answer

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answered 2016-10-03 09:42:26 -0500

rbbg
1823 ●6 ●18 ●26

Hi Rohin,

Are you assigning unique id's to the CollisionObjects? Looking at the message type we can see that for the ADD operation, the CollisionObject information will be replaced if the object (with the id string as an identifier) is already present in the planningScene.