Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[PickNPlace] Final plan visualization: attach picked block to robot EE's moving TF #110

Open
yijiangh opened this issue Apr 9, 2018 · 1 comment
Open

[PickNPlace] Final plan visualization: attach picked block to robot EE's moving TF #110

yijiangh opened this issue Apr 9, 2018 · 1 comment
Labels
enhancement

Comments

@yijiangh
Copy link
Owner

yijiangh commented Apr 9, 2018

No description provided.

@yijiangh yijiangh changed the title [PickNPlace] attach picked block to robot EE's moving TF [PickNPlace] Final plan visualization: attach picked block to robot EE's moving TF Apr 10, 2018
@yijiangh
Copy link
Owner Author

After diving into moveit!'s source code for a while, I realized that we need to reply on planning_scene for visualizing robot state and attached obj in Rviz. We need to attach a planning_scene object / planning_scene_monitor to every "component" of the large plan skeleton.

See moveit!'s plan_representation.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
enhancement
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@yijiangh