Planning scene improvements + added python wrapper for MoveGroup.asyncExecute()

[ymollard]

Commit 5e4f182 comes with the pull request moveit/moveit_ros#571

[davetcoleman]

I think you should check if name collision object exists, and if not display and error

[ymollard]

I've just tried to do this by subscribing to /move_group/monitored_planning_scene and checking if such object is found in world.collision_objects before attaching it. However a simple subscriber is not enough since move_group only publishes a diff. Is there something lighter than merging each time the diffs with the known planning scene? Keep a list of known objects in attribute?

[davetcoleman]

i actually do not use moveit_commander but i would assume it already has a planning scene monitor initialized that is keeping track of all the planning scene objects. does it not?

[ymollard]

No it does not. moveit_commander is quite light compared to the C++ implementation.

Yoan Mollard
Research engineer – 3rd hand project

INRIA Research center, Flowers lab
http://flowers.inria.fr/
http://3rdhandrobot.eu/

----- Original Message -----

From: "Dave Coleman" notifications@github.com
To: "ros-planning/moveit_commander" moveit_commander@noreply.github.com
Cc: "Yoan Mollard" yoan.mollard@inria.fr
Sent: Monday, 30 March, 2015 4:36:23 PM
Subject: Re: [moveit_commander] Planning scene improvements + added python
wrapper for MoveGroup.asyncExecute() (#30)

In src/moveit_commander/planning_scene_interface.py :

@@ -105,6 +105,14 @@ def __make_mesh(self, name, pose, filename, scale =
(1, 1, 1)):
pyassimp.release(scene)
return co

• def __make_existing(self, name):

•    """
  

•    Create an empty Collision Object, used when the object already
  

  exists

•    """
  

•    co = CollisionObject()
  

•    co.id = name
  

i actually do not use moveit_commander but i would assume it already has a
planning scene monitor initialized that is keeping track of all the planning
scene objects. does it not?

—
Reply to this email directly or view it on GitHub .

[davetcoleman]

I'm not very familiar with the python interfaces but I looked around and that seemed right

[davetcoleman]

Looks good except a error msg