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2015-01-11 22:05:51 -0500 | asked a question | how to publish current scene in c++ If I launch rviz with I can then open 'Scene Object' tab and import a file with a constraint object. After that I can go back to the Context tab and publish the current scene by pressing a button. How do I achieve the same effect in a c++ code? |
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2015-01-08 21:26:30 -0500 | asked a question | a moveit pr2 tutorial terminates with a mutex_lock error I run a moveit pr2 tutorial like so: and it runs through different motions fine but at the end it shows an error and then just hangs. Is this an expected behaviour. What should I do to get rid of this error message and have the program finish cleanly? The error message looks like this: moveit_pr2 and the necessary pr2 modules are compiled and installed with catkin_make from source (indigo). I also had a look at master.log and it shows the following error (not sure if it's relevant): |
2015-01-08 00:47:08 -0500 | asked a question | moveit path planning ignores constraints I'm using moveit planning pipeline (indigo-devel) to generate a path for ur5 with some obstacles in the environment, but the generated path goes through the obstacles. The obstacles are represented by a mesh, which defines a collision object imported into the planning scene like this planning_scene->processCollisionObjectMsg( collision_object ); When I publish the planning scene, I can see the obstacles in rviz. A path is then generated with planning_pipeline->generatePlan( planning_scene, request, response ); which uses the planning scene with the defined constraints. However, the path visualised in rviz goes right through the obstacles as if they were not there. ROS outputs the following So, collision checking works fine and reports a collision. But the same obstacles are ignored by the path planning algorithm. What am I missing? What else do I need to do to make path planning take my collision objects into account? I was under the impression that just importing a collision object into the planning scene is sufficient. Obviously, something else needs to be done. |