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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.

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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. :)

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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

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

Seen: 200 times

Last updated: Dec 24 '20