How do i inport a urdf objekt into Ros Moveit?

Hello,

i am trying to inport a URDF into my Simulation, that the Roborter can grab it. Like in Addbox in this Tutorial: http://docs.ros.org/en/melodic/api/moveittutorials/html/doc/movegrouppythoninterface/movegrouppythoninterface_tutorial.html

Thank you for your help.

Asked by JRZ on 2021-03-13 10:15:57 UTC

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Answers

URDF files usually define robots (as the name says), not the objects that you add to your scene. To add an object to your planning scene, it needs to be formatted as a CollisionObject. Then you can publish it using the planning_scene_interface as shown in the tutorial you linked.

I haven't seen a converter between URDF and the CollisionObject message, but you could make one using this URDF parser.

Asked by fvd on 2021-03-13 10:29:01 UTC