How to use CollisionDetectorAllValid for planning?
I am attempting to plan movements with Moveit in ROS Melodic. Temporarily I would like to disable collisions and have found an implementation of the collision detector built-in to Moveit that achieves just that: CollisionDetectorAllocatorAllValid
.
In my node, I construct a move group interface, from that get the robot model, and use this robot model to construct a planning scene object. Then I'm setting the planning scene with:
auto collision_detector_status =
scene.setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorAllValid::create(), false);
However, this doesn't appear to work as the planning is being done in a separate process. Do I need to package this up into a CollisionPlugin based object and use PLUGINLIB_EXPORT_CLASS
?