Ask Your Question
1

how to make Collision Markers visible in rviz?

asked 2012-10-31 03:17:09 -0500

updated 2012-10-31 03:17:42 -0500

according to this tutorial, i can successfully check the state validity. but i don't know what i should do to make the collision markers visible in rviz? do i need to manually publish a topic on the collision markers? i thought the /planning_scene_validity_server should do this job. i've already added "Marker" in rviz, but don't know which topic it should listen to.

thanks.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2012-11-01 16:28:17 -0500

well, just find this method in collision_models.h:

void getAllCollisionPointMarkers(const planning_models::KinematicState& state,
                                   visualization_msgs::MarkerArray& arr,
                                   const std_msgs::ColorRGBA& color,
                                   const ros::Duration& lifetime);

and now i can visualize these markers by manually publish them myself.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2012-10-31 03:17:09 -0500

Seen: 378 times

Last updated: Nov 01 '12