Can monitored planning scene subscribe to multiple point clouds
System: Ubuntu 16.04 / ROS Kinetic / Nuvo-5095GC-022 / Universal Robots UR10 Packages: freenect_stack, geometry2, libfreenect, perception_pcl, trac_ik, universal_robot, ur_modern_driver
Hi,
As part of a dynamic collision avoidance project I'm trying to achieve full visibility of a live scene using multiple Kinect cameras. In the current setup I have two Xbox Kinect V1s, each producing a working point cloud. The cameras are positioned with a 90deg offset and the frames have been linked using tf2, so the points match up relatively well in 3D (cameras are intrinsically calibrated). From there I want to use both point clouds to create an octomap that the robot will plan to avoid.
My question: Is it possible to have the planning scene monitor subscribe to both point cloud 2 topics so it can create the octomap? Or do I have to concatenate the two point clouds using PCL before the planning scene monitor can read a single combined point cloud and create the octomap?
Thanks in advance!