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using ros map server with moveit

asked 2017-10-09 06:34:33 -0500

v4hn gravatar image

This question has been asked at the moveit-users mailinglist by Troy Cordie:

I know this is a bit of an odd question considering most users are planning for armed platforms.

I have a mobile base running in moveit and want to plan using a map in a similar fashion to move base. Is it possible to use the ros map server with moveit?

or has anyone tried something similar? i.e. generate an environment for testing?

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answered 2017-10-09 06:52:26 -0500

v4hn gravatar image

Not directly.

MoveIt always works with 3D information.

The most straight-forward solution would be to generate an octomap from your 2d-map by projecting all occupied pixels to cuboids of some fixed height and use this octomap to plan. You could implement a specialized Octomap updater to do that.

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Cheers I ended up importing the bitmap into solid works and extruding it to give it depth then saving as an stl to import into moveit.

tonka46 gravatar image tonka46  ( 2017-10-15 01:42:16 -0500 )edit

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Asked: 2017-10-09 06:34:33 -0500

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Last updated: Oct 09 '17