ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Add RViz collision scene to Planning Scene

asked 2019-04-03 14:20:38 -0600

cpetlowany gravatar image


I need to check collisions against a crowded environment. I want to add an already existing RViz collision scene to the planning scene. Is there a way to do this?

I know it is published to the /collision_scene topic so maybe there is a way to update the planning scene from a topic.

Thank you!

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2019-04-04 14:55:02 -0600

AndyZe gravatar image

updated 2019-04-04 15:07:29 -0600

I'm not really familiar with this, but looking at the documentation for moveit_core::planning_scene, it has methods called getPlanningSceneMsg() and setPlanningSceneMsg(), so that seems promising.

Btw I found the API documentation just by googling "PlanningScene" -- it's the top hit

Edit: there's also the PlanningSceneInterface, presumably it makes this easier. It has a method applyPlanningScene (const moveit_msgs::PlanningScene &ps)

edit flag offensive delete link more

Question Tools



Asked: 2019-04-03 14:20:38 -0600

Seen: 142 times

Last updated: Apr 04 '19