Using Gazebo world objects with MoveIt

asked 2019-04-15 14:56:19 -0600

gadese gravatar image

updated 2019-04-15 14:58:54 -0600


I'm trying to figure out how to use the objects from a Gazebo scene for motion planning in MoveIt (and RViz). I've done research and found this answer that confirms I should be taking the objects from Gazebo to MoveIt and not the other way around. I've also found this plugin that seems to do what I'm looking for. However, I'm running on ROS Indigo and the plugin doesn't seem to be available for my distribution.

With my current setup, moving the robot in RViZ/MoveIt correctly moves it in Gazebo so things are working okay. However, suppose I add a simple object to my Gazebo world (ex: a cylinder). How would I get the object to appear in my planning scene in MoveIt?

I'm still pretty new to ROS/Gazebo/MoveIt so I apologize if this is a trivial question; I've been searching for a while now and can't seem to find anything that works.

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