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Path planning via MoveIt: collision matrix #32

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romanarust opened this Issue Jan 17, 2019 · 1 comment

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romanarust commented Jan 17, 2019

The collision calculation between the CollisionObject (scene geometry) and an AttachedCollisionObject requires to update the allowed collision matrix, for example by calling the ApplyPlanningScene service.
TODO: add necessary messages to ros backend and automatically apply after calling CollisionObject or AttachedCollisionObject.

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yijiangh commented Jan 22, 2019

Just curious, do we have any plan on fetching the planning scene back to the compas_fab side and visualize it after we send out the service, to check what are the current collision objects and attached objects?

I think it is quite useful for the users to immediately see what's going on in the scene, instead of just facing this ROS blackbox running in the backend. In ROS, the planning scene can be displayed in real-time if Rviz is running, and I found it very useful in my code development.

EDIT:
I followed up @gonzalocasas 's post in the forum [1], which is somewhat related to my quesiton here.

[1] https://forum.compas-framework.org/t/rfc-robotic-fabrication-tooling/37

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