Moveit Visual Tools Dirty Link Transforms

asked 2018-01-25 10:06:26 -0500

jbeck28 gravatar image

updated 2018-01-25 10:39:29 -0500

gvdhoorn gravatar image

I am trying to get moveit visual tools to work, so that I can publish some collision objects of varying color and alpha. But when I run my program, the following warning pops up:

[ WARN] [1516895824.323044627]: Returning dirty link transforms

and nothing appears in RViz.

Any idea what I'm doing wrong? I looked at the tutorial and it seems to build a class around using Moveit Visual Tools, but I wasn't sure if that was entirely necessary... anyway, here's the snippet of code. I can post a more complete section of code, but the program is kind of long.

std::string link = "base_link";
//std::string topic = "/visualization_marker_array";
std::string topic = "/moveit_visual_tools";
moveit_visual_tools::MoveItVisualToolsPtr visual_tools_;
visual_tools_.reset(new moveit_visual_tools::MoveItVisualTools(link,topic));
std::string name = "Table";
geometry_msgs::Pose pose;
pose.orientation.w = 1;
pose.orientation.x = 0;
pose.orientation.y = 0;
pose.orientation.z = 0;
pose.position.x = 0;
pose.position.y = 0;
pose.position.z = 0;
visual_tools_->publishCollisionMesh(pose, name, "package://fanuc_lrmate200id_deflectometry_support/meshes/scene/kb04_Base_v3.dae", rviz_visual_tools::BLUE);

Thanks in advance for any input

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