Hi, I am attempting to set up a UR5 with MoveIt and an asus xtion for collision avoidance based on the sensor data in a Point Cloud 2 stream. I am stuck on how to publish the data from the point cloud 2 topic to moveit's planning scene so it can be used for collision checking. I currently have octomap installed and running and can generate an occupancy grid from the point cloud 2 stream, however octomap_server does not appear to be publishing any data to a topic moveit can use. Is there a way to publish the data either from the point cloud 2 or occupancy grid topics to moveit for collision avoidance? If so, where should I look?
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