Hello everyone!

I am trying to make my own path planner using the Gazebo simulator for Baxter and adding some obstacles using Moveit! package. I would like to know where the Rviz scene definition is stored. The following list contains the required nodes to launch the system properly:

• /basetoworld

• /baxter_emulator

• /baxtersimio

• /baxtersimkinematics_left

• /baxtersimkinematics_right

• /gazebo

• /gazebo_client

• /mongowrapperrosemanuelepc223278322125608104858584

• /move_group

• /robot/controller_spawner

• /robot/controllerspawnerstopped

• /robotstatepublisher

• /rosout

• /rsdkpositionwidjointtrajectoryaction_server

• /rvizemanuelepc223279131953803240592936

If I check the information about the last topic (the only Rviz topic) I receive this:

Publications:

• /rvizmoveitmotionplanningdisplay/robotinteractioninteractivemarkertopic/updatefull [visualizationmsgs/InteractiveMarkerInit]

• /planningsceneworld [moveit_msgs/PlanningSceneWorld]

• /rvizmoveitmotionplanningdisplay/robotinteractioninteractivemarkertopic/feedback [visualization_msgs/InteractiveMarkerFeedback]

• /pickup/cancel [actionlib_msgs/GoalID]

• /movegroup/goal [moveitmsgs/MoveGroupActionGoal]

• /place/cancel [actionlib_msgs/GoalID]

• /planningscene [moveitmsgs/PlanningScene]

• /rvizemanuelepc223279131953803240592936/motionplanningplanningscenemonitor/parameterupdates [dynamic_reconfigure/Config]

• /place/goal [moveit_msgs/PlaceActionGoal]

• /trajectoryexecutionevent [std_msgs/String]

• /rvizmoveitmotionplanningdisplay/robotinteractioninteractivemarkertopic/update [visualization_msgs/InteractiveMarkerUpdate]

• /movegroup/cancel [actionlibmsgs/GoalID]

• /rosout [rosgraph_msgs/Log]

• /pickup/goal [moveit_msgs/PickupActionGoal]

• /attachedcollisionobject [moveit_msgs/AttachedCollisionObject]

• /rvizemanuelepc223279131953803240592936/motionplanningplanningscenemonitor/parameterdescriptions [dynamic_reconfigure/ConfigDescription]

Subscriptions:

• /rvizmoveitmotionplanningdisplay/robotinteractioninteractivemarkertopic/feedback [visualization_msgs/InteractiveMarkerFeedback]

• /place/feedback [moveit_msgs/PlaceActionFeedback]

• /pickup/status [actionlib_msgs/GoalStatusArray]

• /place/result [moveit_msgs/PlaceActionResult]

• /tf [tf2_msgs/TFMessage]

• /movegroup/result [moveitmsgs/MoveGroupActionResult]

• /movegroup/status [actionlibmsgs/GoalStatusArray]

• /pickup/result [moveit_msgs/PickupActionResult]

• /movegroup/displayplannedpath [moveitmsgs/DisplayTrajectory]

• /movegroup/monitoredplanningscene [moveitmsgs/PlanningScene]

• /recognizedobjectarray [unknown type]

• /tfstatic [tf2msgs/TFMessage]

• /pickup/feedback [moveit_msgs/PickupActionFeedback]

• /rvizmoveitmotionplanningdisplay/robotinteractioninteractivemarkertopic/update [visualization_msgs/InteractiveMarkerUpdate]

• /movegroup/feedback [moveitmsgs/MoveGroupActionFeedback]

• /place/status [actionlib_msgs/GoalStatusArray]

• /clock [rosgraph_msgs/Clock]

Services:

• /rvizemanuelepc223279131953803240592936/get_loggers

• /rvizemanuelepc223279131953803240592936/reload_shaders

• /rvizemanuelepc223279131953803240592936/motionplanningplanningscenemonitor/setparameters

• /rvizemanuelepc223279131953803240592936/setloggerlevel

The bold topics are the only ones capable of containing the information I need due to the message type, but they are definitely incomplete of even empty. I thought The robot description would be taken directly from the URDF file (no involving topics), but it does not explain how the scene obstacles are defined. Rviz must receive the obstacle definition somehow.

I want to stress the fact I define the obstacles by means of Moveit! and its planner recognize them as obstacles to avoid. So, I am sure I have properly defined them.

Here you can see how my scene looks:

Youtube link: Rviz full scene

Thank you very much for your help!