[foxy] Wrong configuration of collision object

[zhoubin-me]

In your code:

        pose = Pose()
        pose.position = position
        pose.orientation = quat_xyzw
        msg.pose = pose

However, from ROS2, it should be

        ...
        msg.mesh_poses.append(pose)

[AndrejOrsula]

Hello. Thank you for opening this issue.

The CollisionObject.pose is a valid field in ROS 2 for (foxy, galactic, humble and rolling), see the official implementation on GitHub.

# The object's pose relative to the header frame.
# The shapes and subframe poses are defined relative to this pose.
geometry_msgs/Pose pose

The link you shared is for melodic (ROS 1).

[zhoubin-me]

@AndrejOrsula Thanks, however if I use that, the planner seems ignore my objects

[AndrejOrsula]

May I ask what ROS 2 distribution you use for your MoveIt 2? This repository was originally developed & tested with galactic.

[zhoubin-me]

May I ask what ROS 2 distribution you use for your MoveIt 2? This repository was originally developed & tested with galactic.

Foxy

[AndrejOrsula]

Yeah, so I have not tested this package with foxy, so it is expected that some functionalities just won't work as intended. Everything should work in galactic (no longer supported), and most things should be usable in humble (although not fully tested).

If you would like this repository to support a foxy-specific branch, feel free to open a PR and I can make it target a new branch. I won't be testing the foxy code besides a minimal review, so it would be quick to merge.

[AndrejOrsula]

I am closing this issue as it is related to use of unsupported distribution.

If you (or anyone) wants to add support for foxy, feel free to open a new PR with the changes that make this repo compatible with foxy. I would then take care of the rest and merge the PR into a new foxy branch.