How to use MOVE operation within the moveit_msgs::CollisionObject message

[Michael Francis]

Hey everyone

I am having problems trying to understand how change the pose of a collision object that I have already added into the planning scene. I found that one of the operations that can be done using the CollisionObject message is called MOVE. However I am unsure how I can use the operation. Unlike with how to add or remove a collision object there isnt any tutorial on how to use the move operation. I did try sending a message over the collision_object ros topic using a moveit_msg::CollisionObject msg. The message got sent successfully over the ros topic, however the move_group node process died, leaving this error:

move_group-4] process has died [pid 10631, exit code -11, cmd /home/mfrancis/catkin_ws/devel/lib/moveit_ros_move_group/move_group --debug __name:=move_group __log:=/home/mfrancis/.ros/log/44a4b390-eeb7-11e4-a9fc-b8ca3ab282dc/move_group-4.log].

log file: /home/mfrancis/.ros/log/44a4b390-eeb7-11e4-a9fc-b8ca3ab282dc/move_group-4*.log

I am not sure why it happened. So if anyone has any idea of how to move an already created collision object, your help would be most appreciated. 

Sincerely

Mike

[Francisco Viña]

Hi,

Are you using the python interface?

I've used the move operation recently by just publishing to the  /collision_object topic a  CollisionObject message  and it worked fine.

Here is my python code

collision_object_pub = rospy.Publisher('/collision_object', moveit_msgs.msg.CollisionObject)
shelf_collision_object_msg = moveit_msgs.msg.CollisionObject()
shelf_collision_object_msg.operation = shelf_collision_object_msg.MOVE

shelf_collision_object_msg.id = 'shelf'
shelf_collision_object_msg.mesh_poses = [shelf_pose]
shelf_collision_object_msg.header.stamp = rospy.Time.now()
shelf_collision_object_msg.header.frame_id = base_frame_id

collision_object_pub.publish(shelf_collision_object_msg)

Are you sure the object was correctly added to the planning scene (look at it in RVIZ)

Best,

Francisco

[Michael Francis]

Hey Francisco

I am using the c++ language. I followed your methodology of using the move operation, and it worked! I think my problem may have been how I was trying to publish a static collisionobject message. Once I created a local collisionobject msg like you did and followed your sequence of commands and everything worked!

Hope that helps other people too who try to use the MOVE operation!

[Jonathan Bohren]

In C++ take a look at this plugin for an example:

https://github.com/jhu-lcsr-forks/gazebo_ros_pkgs/blob/hydro-devel/gazebo_plugins/src/gazebo_ros_moveit_planning_scene.cpp

-j