The package gets the poses (myicub_ros/Markers
) from the topic /markers
, and addes the obstacles to moveIt. Obstacles dimentions sets from config/setup.yaml
.
Install dependancies and than do
git clone https://github.com/be2rlab/lazy_mapping_moveit.git
catkin build
Launch the moveIt and add MotionPlanning instance. For exampla, we use ur5
roslaunch ur5e_moveit_config demo.launch
Run
roslaunch lazy_mapping_moveit obstacles_to_moveit.launch
Publish the message
rostopic pub -r 1 /markers myicub_ros/Markers "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
markers:
- header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
id: 0.0
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 1.0
y: 0.0
z: 0.0
w: 1.0"
where
-
id
is identifacator of a obstacle (for examle, an AR-code ID) -
pose
is the obstacle pose
It includes the list obstacles
, where each element is list too. The list has the following view [id, x_dim, y_dim, z_dim]
.