I would be delighted if someone can explain very clearly.
I have recently started working on a robot that has a Jaco Arm. (MetraLab Scitos G5).
I am using the ASUS xtion pro for the obstacle avoidance. Once this is done, I am able to view the Octree in the monitored_planning_scene topic (using rviz).
**1.** I also found that I could specify collision objects using the PlanningSceneInterface Class. What is the difference between the two approaches?
**2.** Also, what is the exact approach to using a PlanningSceneMonitor. In the planning scene tutorial, it is mentioned that the PlanninSceneMonitor is the elegant way to manage a Planning Scene. But, is there a tutorial for the PlanningSceneMonitor?
**3.** I saw that the PlanningSceneMonitor has a protected function called "excludeWorldObjectFromOctree()" .
Sometimes when I try to grasp an object (using xtion for obstacle avoidance), the plan fails since there is a potential collision between the fingers of the JACO arm and the object that I intend to pickup. I thought I could add it as a World object using the Planning Scene Interface (this I am able to do) and then use the "excludeWorldObjectFromOctree()" method to exclude the object from being considered for collision checking. Is there a more straight forward way of excluding a world object from collision checking?
**4.** I have somewhat understood how you could modify the AllowedCollisionMatrix. But then, how do I ensure that this ACM is updated to the current Planning Scene? I expect that there is a method in PlanningSceneInterface like "updateAllowedCollisionMatrix()" ? Am I guessing right? or is there a serious error in my understanding?
Please clarify!
Thank you so much!
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