Ask Your Question

Move a collision object in Rviz

asked 2020-12-22 05:38:57 -0600

marcone gravatar image

I would like to know if there is a way to make an object move in the scene, preferable using python script. I am working with moveit.

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2020-12-24 03:28:32 -0600

fvd gravatar image

Yes, you can publish the object to the planning scene with the operation field set to MOVE, as shown in the CollisionObject message.

You can use the PlanningSceneInterface in C++ for this, although the Python interface doesn't expose the applyCollisionObject function yet. You could add that feature and submit a pull request. :)

edit flag offensive delete link more

answered 2020-12-22 12:41:50 -0600

HappyBit gravatar image

You may find the answer in the tutorials here.

Adding Objects to the Planning Scene

make sure to use the correct name=box_name

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools


Asked: 2020-12-22 05:38:57 -0600

Seen: 200 times

Last updated: Dec 24 '20