MoveIt planning: How can I get a collision distance field from a PlanningScene?

asked 2018-01-22 23:21:33 -0500

alavin89 gravatar image

Given a moveit::core::RobotModel that is constructed from a URDF and an SRDF, I init a planning_scene::PlanningScene. I would like to use these two objects to compute the distance to the nearest obstacle for each robot link. I've been trying to follow the CHOMP implementation, because I know their trajectory optimization uses a signed distance field to compute collision costs, but it's difficult to see where, and how it integrates with PlanningScene.

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