Python Moveit Api doesn't visualize box in rviz

asked 2020-02-26 03:00:15 -0500

vark-os gravatar image

Hello everyone,i am trying to integrate a pick and place operation using python moveit Api but when i try to import a box in rviz it doesn't appear.I have used the code that is provided in moveit tutorials. I can see through rostopic echo that the collision object is been published but its not visualised.Does anyone know what is going on.I have enabled planning scene and other related rviz tools but nothing. Ubuntu 16.04,Ros-Kinetic.The arm is the interbotix widowxl.Thank you!!

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Do you see other objects published to the planning scene? Do you see the object in the PlanningScene tab of the MotionPlanning plugin? Can you move the robot to where the box is supposed to be?

fvd gravatar image fvd  ( 2020-02-29 11:44:59 -0500 )edit

Are you talking about the WidowX 200 arm sold by Trossen Robotics using the repo at If yes, you might have to remap the /attached_collision_object and /collision_object topics to /$(arg robot_name)/attached_collision_object and /$(arg robot_name)/collision_objectrespectively. You can see an example of this at

swiz23 gravatar image swiz23  ( 2020-03-29 00:45:04 -0500 )edit