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How to load CollisionObject or PointCloud files via ROS C++ API

asked 2021-02-04 22:30:31 -0600

Aiden gravatar image

updated 2021-02-05 00:26:23 -0600

fvd gravatar image

I want to dynamic load the obstacles in the moveit_plan , how to use the C++ api to load the sensor data or other files?

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Could you explain what you mean by "the obstacles in the moveit_plan"? CollisionObjects? PointClouds? It would help if you showed what you have tried until now.

fvd gravatar image fvd  ( 2021-02-04 22:47:04 -0600 )edit

CollsionObject or also the PCL data sent by 3D camera

Aiden gravatar image Aiden  ( 2021-02-04 23:57:05 -0600 )edit I have found the load stl model file as a collisionObject , thanks

Aiden gravatar image Aiden  ( 2021-02-05 02:01:07 -0600 )edit

If your questions are solved, please mark your posts as answered so they are taken out of the queue.

fvd gravatar image fvd  ( 2021-02-05 21:30:06 -0600 )edit

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answered 2021-02-05 07:02:36 -0600

fvd gravatar image

I don't know of a standard way to save/load to files, but all ROS messages can be serialized to strings and be exported to a file format like yaml, which C++ and Python have plugins for. You could also use warehouse_ros to interface with a database instead of a folder. There was discussion about a SQLite version here:

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Asked: 2021-02-04 22:30:31 -0600

Seen: 96 times

Last updated: Feb 05 '21