Adding Collision Objects MoveIt! python
I am trying to add my CAD model(.stl format) as a collision object for UR robot to do some trajectories by avoiding the added objects. I see only the methods using C++ but not with python. Where do I place the CAD file and what do I need to call from the code. I tried placing the file under meshes/ur10e/collision. But it didn't work. I am running ROS Melodic.
I found the below question but with the defined method it didn't work. I need to know where do I place the file and how do I set the size if my CAD file already has the dimensions. https://answers.ros.org/question/209030/moveit-planningsceneinterface-addbox-not-showing-in-rviz/
Asked by Karthik_rangz on 2020-01-15 14:31:46 UTC
Answers
As it says in the comments of your link, at the moment the applyCollisionObject method is not exposed to the Python move_group_interface class, but you can still publish it as described in the tutorial. Have you followed it?
A good place to store your mesh files is in a separate package, such as my_scene_description/meshes.
Asked by fvd on 2020-02-28 06:08:50 UTC
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