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Is a PlanningSceneDiff without CollisionObject shapes valid?

asked 2012-07-12 02:36:50 -0600

dornhege gravatar image

I'm wondering how far the concept of a PlanningSceneDiff goes when it is applied.

As an explicit example: If there is some CollisionObject published to the environment server and added with id, pose, shape, etc. and now I construct a PlanningSceneDiff that contains a CollisionObject, where only id and pose(s) are set, what should happen?

Will this update the CollisionObject with the same id and the new poses + the originally added shapes or will it update the CollisionObject with the new poses and empty shapes?

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answered 2012-07-12 06:37:25 -0600

egiljones gravatar image

Or the third option would be that it may segfault. Looking at the code if there is an existing object of a given id and another in the diff the object in the diff will overwrite the previous object. Thus you should make sure that the diff contains a one-to-one relationship between shapes and poses.

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Asked: 2012-07-12 02:36:50 -0600

Seen: 130 times

Last updated: Jul 12 '12