My goal is to be able to add and remove object dynamically then do path planning. Even moving objects should be nice but I don't know if it's possible
I want to add box or meshes to my Planning scene to do path planning avoiding some object. The problem is that after adding object to the scene interface I don't have any visual feedback in RViz. Later I would like to spawn this object in gazebo as well to be able to have physics.
This is what I do.
rospy.init_node('scene_test', anonymous=True)
scene = moveit_commander.PlanningSceneInterface()
p = PoseStamped()
p.pose.position.x = 0.
p.pose.position.y = 0.
p.pose.position.z = 0.
scene.add_box("table", p, (1, 1, 1))
rospy.sleep(10)
I don't know how to check the scene because the interface doesn't provide any method to do so, but nothing appear in RViz. I suspect something is missing to notice Rviz a new object is here but I can't find anything related to this issue.
Thank you for reading, any help will be much appreciated
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