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Hello,
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!
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)
Asked: 2019-04-03 14:20:38 -0500
Seen: 144 times
Last updated: Apr 04 '19
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