Create collision object from cylinder segmented using pcl::SACSegmentation

Based on this I get the radius, a point on the centerline of the cylinder and a direction vector for the centerline.

Now the location of the collision object is coming correctly but the orientation is not. I am not entirely certain what the dir vector represents? I tried various ways to get it to work but none of them seem to work. Any help greatly appreciated.

Thank you

Asked by Ridhwanluthra on 2018-06-07 10:41:43 UTC

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Answers

The parameters you describe are a traditional way to represent cylinders of infinite length and I'm not sure how they could be misinterpreted.

The orientation of a moveit_msgs::CollisionObject is not just a direction, but a 3D transformation. So the direction vector of the cylinder specifies the z axis of your cylinder, it does not specify x and y. You have to choose the missing degree of freedom arbitrarily and apply standard geometric calculus to get the rotation quaternion (/ RPY / 3x3 rotation matrix) of your CollisionObject.

Asked by v4hn on 2018-06-07 12:53:32 UTC