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Basically what you need to do is set up a Planning Scene and add the S-shaped collision object to it. There's a tutorial here. The message definition is here.

You can also add the collision mesh with the RViz MotionPlanning plugin (GUI). Of course, then you would have to re-add the object manually every time you launch the robot.

Basically what you need to do is set up a Planning Scene and add the S-shaped collision object to it. There's a tutorial here. The message definition is here.

You can also add the collision mesh with the RViz MotionPlanning plugin (GUI). Of course, then you would have to re-add the object manually every time you launch the robot.

Basically You could add the object to the URDF. See here. That's what I would recommend since it will always be there.

OR, in code, you need could set up a Planning Scene and add the S-shaped collision object to it. There's a tutorial here. The message definition is here.

You OR you can also add the collision mesh with the RViz MotionPlanning plugin (GUI). Of course, then you would have to re-add the object manually every time you launch the robot.