Collision avoidance using kinect Camera

asked 2017-06-21 09:56:07 -0500

Muneeb gravatar image

updated 2017-06-21 10:09:19 -0500

I am working on ABB IRB4600 robot. My objective is to avoid the obstacles in the trajectory of the robot. I have tried many planners but i end up with "Stomp planner". The movements of the robot for avoiding and replanning the path are quite natural with this planner. I am able to avoid and replan the path in case of fix objects (adding objects by using add_box ). Now i want to get the objects in the robot enviornmnet through Kinect camera. I am using iai_kinect2 and ibfreenect2 packages and i am done with the callibration of the camera with the robot. Please let me know, how the moveIt! knows that the objects appearing in the planning scene through the camera are obstacles? and how can i keep updating the planning scene for any incomming objects ?

-I am using Kinectic kame ROS distribution

edit retag flag offensive close merge delete