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Multiple planning scenes

asked 2019-07-01 01:14:47 -0600

blabla gravatar image

I am using ROS Kinetic (Ubuntu 16.04) and want to validate a motion in the current planning scene and in the same time I want to plan the following motions (for the same robot) in the future planning scene in another thread (or node). If only one planning scene is used, all the collision objects have to be replaced after switching between current and future planning state. but if there is an option for multiple planning scenes, I can plan two motions separately, and I can eliminate the planning time. Is it possible to have multiple planning scenes in ROS (rospy)?

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answered 2020-03-03 06:58:57 -0600

fvd gravatar image

updated 2020-03-03 06:59:08 -0600

I understand that you want to plan a motion with a different ("future") PlanningScene while another motion is being planned or executed using another ("current") PlanningScene. I don't think this is readily available in the way you imagine it, but you could maintain two different move_groups with their respective PlanningScene. It would make sense for one of them to use the PlanningSceneMonitor to maintain the current scene and the other move_group to be used only for planning, in a PlanningScene that you define and maintain manually.

In general, you can maintain multiple PlanningScenes and use them to plan in alternative future states (it's done this way in the MoveIt Task Constructor, which you might want to look at), but this is advanced usage, so it is not available through the MoveGroupInterface or PlanningSceneInterface.

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Asked: 2019-07-01 01:14:47 -0600

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Last updated: Mar 03 '20