Is there a shortcut for checking for free space at a given position?
My current approach would be to add a CollisionObject (eg cylinder), wait till it is published, check if there are collisions, remove the object again. The idea is however to do this as a quick precheck before doing path planning for a grasp and it shouldn't take too long (and shouldn't update any collision data structures)
running moveit and ros indigo on Kubuntu 14.04
↧