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Add collison object from a urdf file in moveit

asked 2018-02-05 11:00:50 -0500

vacky11 gravatar image

If a collision object is defined in a urdf file similar to a robot_description, Is there a way to add collision objects from a urdf file in PlanningScene of moveit?

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answered 2018-02-12 10:24:57 -0500

vacky11 gravatar image

After doing some research I concluded that, as of now there is no direct method to do so. Thus, for now Im parsing the urdf file using TinyXml (xml parser).

I get the values of all the necessary attributes of urdf and save them as variables using TinyXml. And then I use those variables in the piece of code where Im defining all the properties of the collision object and adding it to the planning scene.

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Asked: 2018-02-05 11:00:50 -0500

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Last updated: Feb 12 '18