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ROS moveit programmatically adding collision object

asked 2013-02-27 04:10:12 -0600

Wouter gravatar image


I would like to add Collision objects to the planning scene, similar to how it was previously possible in Electric+arm_navigation (see code ). However, I did not get the code to work because the headers are deprecated in Groovy and MoveIt. Does anyone have an idea how to do a similar thing in Groovy+MoveIt?

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answered 2013-03-18 07:51:00 -0600

isucan gravatar image

Sorry for the late reply, but here it is:

You can do this in two ways: either you publish a CollisionObject message on the /collision_object topic, or, you can call processCollisionObjectMsg() function directly on the PlanningScene, if you are in the same process. Furthermore, you can do something like: planning_scene->getWorld()->addToObject("object_name", Shape, Pose);

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Thanks for your comment isucan. I would like to add a cylinder (shape primitive) as collision object, but I am struggling to write a cpp file similar to the tutorial 'Adding known objects to the collision environment'. As far as I know, such an example does not exist for MoveIt, or do I miss somethi

Wouter gravatar image Wouter  ( 2013-04-15 23:28:20 -0600 )edit

answered 2014-04-05 11:46:00 -0600

Dave Coleman gravatar image

Very late reply, but I just created an easy helper function to publish a collision cylinder

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Asked: 2013-02-27 04:10:12 -0600

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Last updated: Apr 05 '14