Multiple planning scenes

asked 2019-07-01 01:14:47 -0500

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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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