Adding collision meshes to RViz and gazebo ignition

[marc-wittwer]

I managed to add collision meshes via an .stl-file to the moveit component. The mesh displays in the RViz window correctly but is missing in the gazebo scene.

            filepath = path.join(
                path.dirname(path.realpath(__file__)), "cylinder.stl"
            )
            mesh_id = 'cylinder'
            position = Point(x=0.5, y=0.0, z=0.2)
            quat = Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)

            self.get_logger().warn("Adding collision mesh cylinder")

            self._moveit2.add_collision_mesh(
                filepath=filepath, id=mesh_id, position=position, quat_xyzw=quat)

However, how would I add the cylinder collision mesh to the gazebo scene?

How should I implement a moving obstacle (collision mesh) programmatically, so that it is both visible in RViz and gazebo? (e.g. a moving person walking by the robot)

[AndrejOrsula]

Hello @marc-wittwer,

That is an expected behaviour. MoveIt 2 has nothing to do with objects inside the simulation. Function add_collision_mesh() adds mesh only to the planning scene of MoveIt such that it avoids these objects/meshes during motion planning.

To add objects to the Gazebo simulation, there are several ways. You can use some of the Gazebo plugins to add objects (e.g. Resource Spawner), edit SDF world files (e.g. worlds/throw_object.sdf) or do it programatically. Try consulting ~Ignition~ Gazebo tutorials for that. Note that these objects will NOT be automatically a part of the MoveIt planning scene.