About AttachedCollisionObject

motion_planning_environment

asked 2012-11-28 04:15:01 -0500

Sanxano
70 ●15 ●16 ●19

Hi everyone,

Just a quick question,

If you want add two or three attached objects into a scenery, You must to do this?:

arm_navigation_msgs::AttachedCollisionObject pieza1_object;
pieza1_object.link_name = "r_gripper_r_finger_tip_link";
...
pieza1_object.object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ADD;
...                                                                       
pieza1_object.object.header.frame_id = "odom_combined"; //Referencia origen
pieza1_object.object.header.stamp = ros::Time::now();
...
pieza1_object.object.shapes.push_back(pieza1S);
pieza1_object.object.poses.push_back(pieza1P);
//
**att_object_in_map_pub_.publish(pieza1_object);** //ADD into scenary
//
pieza1_object.object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::DETACH_AND_ADD_AS_OBJECT;
**att_object_in_map_pub_.publish(pieza1_object);** // Change the state

arm_navigation_msgs::AttachedCollisionObject pieza2_object;
pieza2_object.link_name = "r_gripper_r_finger_tip_link";
...
...
**att_object_in_map_pub_.publish(pieza1_object);** //ADD into scenary
//
pieza2_object.object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::DETACH_AND_ADD_AS_OBJECT;
**att_object_in_map_pub_.publish(pieza2_object);** // Change the state

And following this question,

Is it necessary to do:

if(!get_planning_scene_client.call(planning_scene_req, planning_scene_res)) {
      ROS_WARN("Can't get planning scene");
      return -1;
  }

After every object state modification?

Regards.

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1

answered 2012-11-28 04:44:04 -0500

dornhege

31395 ●134 ●284 ●498

Have a look at the WorldInterface class in pr2_python. This gives examples for the functionality and I can confirm that it works this way. Even as a C++ guy you should be able to understand what is going on.

Note, that there is a delay after each publish, not sure how necessary that is.

As to the second question: No. This just resets the planning scene. The procedures above influence the world interface and your objects are stored there. However, before you use any component that uses the planning scene (as e.g. the planning scene display in rviz) you should do the reset to get your world updates into the planning scene.