Load scene into python code

asked 2017-06-15 07:56:34 -0500

cvancleef gravatar image

updated 2017-06-15 12:29:49 -0500

I have a .scene file that I can import into RViz and have my robot collide with the objects of the scene when I drag it around. When I run my code to move the robot, the robot just moves through the scene objects in RViz. I'm assuming its because I don't reference the scene in my code. How would I reference the same scene in my code so the robot recognizes collisions with it?

EDIT: I got the robot to recognize objects in the scene by importing the scene file, then clicking 'Publish Current Scene'. It now avoids objects when I run a plan in my code. So, changing my question slightly, is there a way to programatically load a .scene file into RViz, then run 'Publish Current Scene'?

edit retag flag offensive close merge delete