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Extended planning_interface::PlanningSceneInterface #630

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corot opened this issue Dec 13, 2015 · 3 comments

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commented Dec 13, 2015

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.
I need to retrieve the attached objects and world objects geometry. Also, I'll add optional color information to addCollisionObjects

If no objection, I'll make a PR.

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commented Dec 14, 2015

Could you give an example?

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commented Dec 14, 2015

I have already added locally these two methods:

std::map<std::string, moveit_msgs::CollisionObject> getObjects(const std::vector<std::string> &object_ids);

std::map<std::string, moveit_msgs::AttachedCollisionObject> getAttachedObjects(const std::vector<std::string> &object_ids);

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:

void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject> &collision_objects,
                         const std::vector<moveit_msgs::ObjectColor> &object_colors = std::vector<moveit_msgs::ObjectColor>()) const;

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!)

corot added a commit to corot/turtlebot_arm that referenced this issue Dec 16, 2015

corot added a commit to corot/moveit_ros that referenced this issue Feb 2, 2016

corot added a commit to corot/moveit_ros that referenced this issue Feb 19, 2016

corot added a commit to corot/moveit_ros that referenced this issue Jun 19, 2016

v4hn added a commit that referenced this issue Jun 19, 2016

Merge pull request #641 from corot/extended_psi
Implement issue #630: Extended planning_interface::PlanningSceneInterface

v4hn added a commit that referenced this issue Jun 19, 2016

v4hn added a commit that referenced this issue Jun 19, 2016

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commented Jan 6, 2017

@corot I'm working with the PlanningSceneInterface right now and just re-discovered this issue - do you create the new features for that class? I'm interested in getting them merged in.

otamachan pushed a commit to otamachan/moveit_ros that referenced this issue Oct 22, 2017

otamachan pushed a commit to otamachan/moveit_ros that referenced this issue Oct 22, 2017

otamachan pushed a commit to otamachan/moveit_ros that referenced this issue Oct 22, 2017

Merge pull request ros-planning#630 from v4hn/pr-kinetic-benchmarks-i…
…nclude-order

benchmarks: always prefer local header over system installations
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