Planning with moveit and collisions with the scene (moveit rviz plugin)
Hi all!
I have installed moveit! and I have now a little experience with the rviz plugin. My aim is to compare some planning algorithms with two or three scenes, using the pr2 robot. I was able to spawn the pr2 following the tutorials and plan some motions, but after having imported a scene from the "Scene Object" pan, by clicking on the "Import from text" button (like in this tutorial http:\moveit.ros.org\wiki\Environment_Representation\Rviz, "Importing from Text Files" paragraph), I am not able to tell the planning algorithms to take into account of the collisions with the scene. The movements planned are going through the scene objects...
I didn't find anything in the tutorials, but maybe I wasn't looking the right pages.
Any help about making collisions work also with the environment? Self-collision checking works perfectly...
Thanks in advance!
