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MoveIt!2 add Pointcloud2 to OccupancyMapMonitor

asked 2021-10-22 03:58:23 -0600

FlorianSp gravatar image

First my Setup:

  • Ubuntu 20.04
  • ROS2 Foxy from Debian Packages
  • MoveIt!2 ROS2 UR Driver from https://github.com/UniversalRobots/Un...
  • own Node for Launching RViz with moveIt and the Robot Driver connected to the URSimulator for Linux: all working
  • own Node for Receiving a Pointcloud over Network from an RGB-D Camera publishing it as Pointcloud2 in a topic: I can see the Pointcloud in RViz

I would like to use the Pointcloud as "Collision Object" in MoveIt so I tried to use the Perception Pipeline Tutorial from here: https://ros-planning.github.io/moveit... But I can't transfer it from Moveit1 to Moveit2. I tried to find the sensor_manager.launch file or to create it, but got stuck here. Is there another way to give the PointCloud2 the OccupancyMapMonitor?

Thank you for your efforts.

Florian

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answered 2021-10-29 01:59:04 -0600

FlorianSp gravatar image

I got a hint on this port of the Perception Tutorial (and others) https://github.com/RoboticsYY/moveit_... and found the way to activate the OccupancyMapMonitorUpdater for Pointclouds. Just these Settings in the Launch file:

octomap_config = {'octomap_frame': 'camera_rgb_optical_frame', 
                      'octomap_resolution': 0.05,
                      'max_range': 5.0}

octomap_updater_config = load_yaml('avoid_obstacle_scene', 'config/pointcloud_octomap.yaml')

And then add the new two parameters to your move_group_node.

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can you please show us the content in pointcloud_octomap.yaml?

khairulm gravatar image khairulm  ( 2022-09-07 05:30:49 -0600 )edit

Sorry, I haven't any Access to the project anymore. But I can just remember you can find it very easy by searching online.

FlorianSp gravatar image FlorianSp  ( 2022-09-07 06:38:35 -0600 )edit

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Asked: 2021-10-22 03:58:23 -0600

Seen: 226 times

Last updated: Oct 29 '21