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Adding Collision Objects MoveIt! python

asked 2020-01-15 13:56:10 -0500

Karthik_rangz
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updated 2020-01-15 15:31:21 -0500

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/2090...

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answered 2020-02-28 05:08:50 -0500

fvd
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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.

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Asked: 2020-01-15 13:31:46 -0500

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Last updated: Feb 28 '20

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