attach a collision object to a frame

[Marcello Chiurazzi]

Hi, i'm trying to avoid collision with object in the environment.
I can create a collision object with a shape,position and orientation. the question is can i set position and orientation automatically, connecting this object to a fixed frame???

[Marcello Chiurazzi]

the code is very similar to the tutorial on moveit:

moveit_msgs::CollisionObject collision_object;

  collision_object.header.frame_id = group.getPlanningFrame();

  /* The id of the object is used to identify it. */

  collision_object.id = "box1";

  /* Define a box to add to the world. */

  shape_msgs::SolidPrimitive primitive;

  primitive.type = primitive.BOX;

  primitive.dimensions.resize(3);

  primitive.dimensions[0] = 0.005;

  primitive.dimensions[1] = 0.35;

  primitive.dimensions[2] = 0.05;

  /* A pose for the box (specified relative to frame_id) */

  geometry_msgs::Pose box_pose;

  box_pose.orientation.x = eps[0];

  box_pose.orientation.y = eps[1];

  box_pose.orientation.z = eps[2];

  box_pose.orientation.w = eta;

  box_pose.position.x =Pos(0);

  box_pose.position.y =Pos(1);

  box_pose.position.z =Pos(2)+0.4;

  collision_object.primitives.push_back(primitive);

  collision_object.primitive_poses.push_back(box_pose);

  collision_object.operation = collision_object.ADD;

  std::vector<moveit_msgs::CollisionObject> collision_objects;

  collision_objects.push_back(collision_object);

  ROS_INFO("Add an object into the world");

  do{

  // Now, let's add the collision object into the world

  planning_scene_interface.addCollisionObjects(collision_objects);

  /* Sleep so we have time to see the object in RViz */

  sleep(2.0);

........ the continue is useless for the problem

[Yoan Mollard]

Hi Marcello,

In general, the field "frame_id" is the frame you're attaching this object to.

Just change:

collision_object.header.frame_id = "my_moving_frame"

Best,

Yoan Mollard

Research engineer – 3rd hand project

INRIA Research center, Flowers lab

http://flowers.inria.fr/

http://3rdhandrobot.eu/

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[Marcello Chiurazzi]

you're right,thanks

Solved ;)

[Yoan Mollard]

You have a field "meshes" dedicated to that purpose:

http://answers.ros.org/question/147886/creating-a-collisionobject-from-a-mesh-in-hydro/?answer=147891#post-id-147891

Cheers,

Yoan Mollard

Research engineer – 3rd hand project

INRIA Research center, Flowers lab

http://flowers.inria.fr/

http://3rdhandrobot.eu/

---

From: "Marcello Chiurazzi" <chiurazzi...@gmail.com>
To: "Yoan Mollard" <yoan.m...@inria.fr>
Sent: Thursday, 20 August, 2015 4:55:37 PM
Subject: Re: attach a collision object to a frame

hi and thanks for your reply.
Ok,so asserting position=0,0,0 and orientation=0,0,0,1 a have it exactly the object at the position and orientation of the frame.
If i can advantage of your experience can i ask to you how i can attach a mech(STL or DAE) to this collision object??

Anyway thanks for your precious help

Regards

--

Marcello Chiurazzi

-----------------------------------------

Phone: 3356979421

Trav. Vincenzo Scala 30