MoveIt planning scene monitor example

This example shows how to create a PlanningSceneMonitor instance that is up to date with the planning scene published by a move group node.

Running the example

For example, launch the move group node for the panda robot:

 roslaunch panda_moveit_config demo.launch

And add a collision object with the script from this tutorial:

rosrun planning_scene_example add_collision_objects

Output:

ros.moveit_core.robot_model: Loading robot model 'panda'...
ros.moveit_ros_planning_interface.move_group_interface: Ready to take commands for planning group panda_arm.
ros.planning_scene_example: Using box name: box1
ros.planning_scene_example.tutorial: Add an object into the world
ros.planning_scene_example: Collision object: box1

Now, run the example node:

rosrun planning_scene_example access_planning_scene 

And you should see box1 is present in the output:

-----------------------------------------
PlanningScene Known Objects:
  - Collision World Objects:
 	- box1
  - Attached Bodies:
-----------------------------------------

Using the same add_collision_objects, you can also add objects with a specific name given as command line argument. For example we can add another collision object other_box, while the access_planning_scene is still running in another terminal.

rosrun planning_scene_example add_collision_objects other_box

In the terminal where the access_planning_scene is running, the collision scene should now contain two collision objects:

-----------------------------------------
PlanningScene Known Objects:
  - Collision World Objects:
 	- box1
	- other_box
  - Attached Bodies:
-----------------------------------------