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Display collision space in rviz

asked 2013-01-20 23:50:02 -0600

Kilin gravatar image


I'm experimenting with arm_navigation with kuka youbot.

I am using move_arm to plan and execute trajectories from my code, now I'd like to add obstacles (both in the form of primitive objects and point clouds) to the planning environment.

I followed this tutorial: (I just modified the code in order to use arm_navigation_msgs types)

When I run the code, I correctly get:

My question is: how can I view the collision environment in rviz? I just want to view which obstacles where added along with the model of the robot.

Thank you

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Thank you for your reply. Well, I don't see neither a planning_scene_markers topic, nor a PlanningScene display type when I click "add" in rviz..

Kilin gravatar image Kilin  ( 2013-01-21 02:27:11 -0600 )edit

It should be a Marker display/topic. It shows up in our system, but maybe it's something custom that is launched somewhere and not a feature of the environment_server itself.

dornhege gravatar image dornhege  ( 2013-01-21 03:07:55 -0600 )edit

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answered 2013-01-21 00:43:07 -0600

dornhege gravatar image

updated 2013-01-21 00:44:42 -0600

Add a PlanningScene Marker display at /planning_scene_markers.

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It doesn't show up...

andrestoga gravatar image andrestoga  ( 2019-07-31 13:17:12 -0600 )edit

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Asked: 2013-01-20 23:50:02 -0600

Seen: 1,196 times

Last updated: Jan 21 '13