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2017-02-01 07:36:48 -0500	commented answer	DistanceToCollision within a Moveit Planner Yes, you are correct. The problem was a planning scene that had not been updated. The planning_scene_interface is not intended to be used within a planner that is running as part of the move_group node, hence the errors. As gvdhoorn mentioned more details can be found at the moveit issue.
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2017-01-16 10:38:54 -0500	asked a question	DistanceToCollision within a Moveit Planner Hello, I am trying to create a planner plugin within MoveIt, based on the CHOMP Planner already implemented. For this I need a distance function which returns the minimum distance between robot and environment, which DistanceToCollision provides. In order for the obstacles to be recognized and to avoid: https://github.com/ros-planning/movei... I use `planning_scene_interface_.getObjects()`. All of this works when the c++ code is run with moveit running, however when added to the planner this line causes an infinite loop, perhaps because the PlanningSceneInterface requires move_group, and the planner is run from it. What could be done to solve this? Or alternatively is there another function that calculates distance to environment which does not require the PlanningSceneInterface and would work in the planner? Thank you in advance.