Multiple planning_scene instances during runtime

asked 2019-07-03 05:26:14 -0500

cpetersmeier gravatar image


I am writing a c++ ros-node which is consists out of two classes:

  1. collisionObjectHandler
  2. pathPlanningHandler

Is it possible / advisable to have a planning_scene::PlanningScene object in both of them? They may run simultaneously during runtime, encapsulated in a ros-node.

Any feedback is greatly appreciated.

Good day!

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