Hi there
I am currently testing some motion planners in moveit. To test the obstacle avoidance of the planner i would like to insert an environment scanned by a kinect.
I succesfully managed to create an octomap of the environment I want and saved it as a .bt file. My question is how I can add this .bt file into moveit so my robot detects it as a collision object.
If I use `rosrun octomap_server octomap_server_node my_environment.bt` I am able to visualise the saved octomap in rviz. The main problem I run into is that my robot uses fixed frame: "base_link" while the octomap is published in fixed frame: "map".
Am i right in concluding this is why the octomap is not detected as a collision for my robot?
If so, can anyone point me in the right direction for using this saved octomap as a collision object?
The software I am using is Ubuntu 16.04 and ROS Kinetic
↧