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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.
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.
Asked: 2012-10-31 03:17:09 -0500
Seen: 455 times
Last updated: Nov 01 '12
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