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Extended planning_interface::PlanningSceneInterface #630
Hi, any reason to not include additional methods to the planning interface? It's weird to mix calls to this class and calls to the GetPlanningScene service.
If no objection, I'll make a PR.
I have already added locally these two methods:
I need them because I'm interested on the collision object size (for grasping it) and not only in its pose.
And I modified this one to optionally provide colors for each object:
I have noticed that, if I publish the colors separatedly, some times it doesn't work and the RViz plugin shows all with the default green. Publishing together with the objects themselves, it always work (or so it looks by now!)