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3D costmap as obstacle for MoveIt!

asked 2016-12-02 03:33:31 -0500

Rahndall gravatar image

Dear Ros Users,

I am using MoveIt for controlling a robotic arm

Is there a way to use a 3D grid as costmap as obstacle for MoveIT planner? Thanks!

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answered 2016-12-02 04:48:45 -0500

rbbg gravatar image

updated 2016-12-02 05:27:22 -0500

gvdhoorn gravatar image

While not entirely identical to the way the 2DCostmap works, the Octomap is probably the closest alternative for 3D. Usually, the Octomap is fed by a depth camera, but it is also possible to specify the occupied voxels in any other way. The occupied voxels are then treated as collision obstacles, so MoveIt! planners will avoid any collisions with these voxels.

Have a look at this tutorial to see how it is used with a depth camera. This will also function for any other node publishing sensor_msgs/PointCloud2 messages on the input topic.

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This absolutely answers to my (probably newbie) question. Thank you!

Rahndall gravatar image Rahndall  ( 2016-12-02 05:13:59 -0500 )edit

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Asked: 2016-12-02 03:33:31 -0500

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Last updated: Dec 02 '16