Colorizing scene objects?

[Patrick Goebel]

Is it possible to assign different RViz colors to different scene
objects? I noticed that even when I import meshes into the scene, they
all get the same color that is set under "Scene Geometry->Scene Color"
in the MotionPlanning display.

--patrick

[Michael Ferguson]

I don't think this is currently possible, but I'd give a big thumbs up to making it possible in the future.

-Fergs

[Ioan Sucan]

Hello Patrick,

This is not possible in the Rviz plugin itself. However, each object has a color associated to it (optionally), in the Planning Scene message. This is of use only if you publish the message yourself.
What needs to be done is adding a color picker to the rviz plugin and calling setObjectColor() on the maintained planning scene.

Please assign a feature request on moveit_ros; this should be easy to add; if anyone feels like adding this in, I'd be happy to merge it :)

Ioan

[Patrick Goebel]

OK thanks--I've added a feature request here.

--patrick