Hi,
I am trying to map an area with a 3D Lidar and Husky. I hope to build an Octomap of the area and use Moveit to plan movements of the UR5 to prevent collisions.
I am following the [Husky UR5 Demo](http://www.clearpathrobotics.com/assets/guides/husky/HuskyManip.html) and [Moveit Perception Tutorial](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/perception_configuration.html).
I have added a Velodyne VLP-16 (velodyne_simulator from DataspeedInc) to the Husky Model in /opt/ros/indigo/share/husky_description/urdf/husky.urdf.xacro.
I notice that the octomap is displayed in rviz. However, when the Husky is moved, I see a duplicate of obstacles in the octomap (i.e. both the previous and current location). I believe I have set the octomap_frame = "odom".
So I tried octomap_server (roslaunch octomap_server octomap_mapping.launch) and displayed it in rviz (occupied_cells_vis_array). I have set frame_id = "odom" as well. This time, the octomap seems to update and the obstacles are fixed in place.
As such, I wonder if Moveit supports this, and if so, have I configured it incorrectly?
Thanks in advanced.
I am running on the following:
14.04.1-Ubuntu SMP
ROS Indigo
rviz version 1.11.19
Gazebo version 2.2.3
Moveit version 0.7.13-Alpha
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