Planning with moveit and collisions with the scene (moveit rviz plugin)

asked 2013-07-24 09:17:43 -0600

kir
23 ●3 ●3 ●7

updated 2014-11-22 17:05:18 -0600

ngrennan
1 ●1 ●1

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!

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Ok, it worked, thanks! :) I think you can probably help me with another question about the same topic. Here: http://answers.ros.org/question/69397/moveit-benchmark-log-where-is-it/ Thanks a lot! I am really enjoying your work :)

kir ( 2013-07-27 08:10:04 -0600 )edit

great, This poster help me alot. I also have another question, how can I extract this obstacle information with C++ code, is there tutorial about that? Qiang

Qiang ( 2013-10-22 03:16:19 -0600 )edit

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Planning with moveit and collisions with the scene (moveit rviz plugin)

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Planning with moveit and collisions with the scene (moveit rviz plugin)