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how to remove collision objects from Rviz by code

asked 2018-09-05 06:00:05 -0600

enrico gravatar image

Hi all,

I was wondering if a function able to remove collision objects from world do exists...

because the


function requires at least 0.4/0.5 seconds delay to be effective on Rviz, but my target is to remove it istantaneously. I know there was a similar issue with the placement of an object in the world, because also the function


requires that delay in order to be effective in Rviz. But this has been solved by using another function:


So if anyone has ever dealt with these things please try to help me. Thanks in advance.

ROS Kinetic, Ubuntu version 16.04

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Also referenced in this follow-up question

fvd gravatar image fvd  ( 2020-10-18 23:47:35 -0600 )edit

1 Answer

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answered 2018-12-05 02:46:08 -0600

aPonza gravatar image

You can use bool applyCollisionObject(const moveit_msgs::CollisionObject& collision_object); by specifying collision_object.operation = collision_object.REMOVE; when you create the moveit_msgs::CollisionObject

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Asked: 2018-09-05 06:00:05 -0600

Seen: 889 times

Last updated: Dec 05 '18