Moveit planning arm to wall
Hello, Is there a way to make the end effector of a manipulator plan to a pose in front of an object of an octomap? Let's say I drive my mobile manipulator to the known location of a wall (octomap of the wall generated in RViz while driving) and I want my end effector pose to be 10 cm in front of the wall with a particular orientation but without hardcoding the pose of the end effector in de frame of the mobile base (since I would know where the base will be in front of the wall)?
Could this be done by requesting the location of the cells of the wall and telling the arm to plan towards it?
Any suggestions would be much appreciated.
My first instinct would be to estimate the wall from the octomap and use that place to generate your goal pose.
Thank you for your comment, the problem is that I don't know how to get information from the generated octomap in MoveIt. For the moment, we're using lasersensor data to determine the pose of the wall in front of the robot and than adjusting the pose of the endeffector. As you see, this is a workaround instead of using the octomap.
Have you checked the Octomap API?