Hi,
I am trying to plan and control trajectories on a tablesize robot. The robot itself consists of a raspery pi that does all the low level stuff (motor control etc). It is running ros nodes including a move_group node and a high level commander node which provides an action server for simple tasks (like go to x, or move joints like y). This high level commander node uses move_it for trajectory planning.
I want to do give orders from another machine connected via network that include some collision avoidance. However since the rasperry pi lacks computational power, i want to do the planing on the other machine. This means i want to run a second move_group node under the same ROS_MASTER but under another namespace (say planningNS) so i can keep track of all collision object in that planing move_group and then execute the plan on the robot. The later is no problem when enhancing the highlevel commander by a "set plan action".
My problem is that i don't quite know to deal with the different namespaces. Launching another move_group node under different namespace, with different scenecontexts etc works fine, but how do i specify in my code which move group node should be picked when calling something like:
moveit::planning_interface::MoveGroupInterface move_group(loadOptions);
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
I could not find any method to set the namespace for say the planning scene. Any of you had experiences with running multiple move_group nodes and how to address this correctly?
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