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UniversalRobots / Universal_Robots_ROS2_Driver

Universal Robots ROS2 driver supporting CB3 and e-Series
BSD 3-Clause "New" or "Revised" License
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Occupancy map updater plugin does not work with the UR10e #578

Open ummy11 opened 1 year ago

ummy11 commented 1 year ago

Description I am trying to use the Occupancy Map Updater plugin that MoveIt2 offers.

I implemented this via the demo launch file (“ur_moveit.launch.py” in “ur_moveit_config” package) by defining the octomap config and octomap updater config (sensor3d.yaml). Then passed them as parameters to the move_group node. In addition, I launch a static broadcaster for a tf2 between the camera and the base_link.

This worked perfectly with the panda robot on rviz. However, it doesn’t show an the octomap for the universal robot.

The \monitored_planning_scene topic is responsible for visualizing the octomap on rviz. However it comes up empty when echoed in the terminal. The same goes for the \filtered_cloud topic.

What could be causing this and how could I fix it?

Enviroment

fmauch commented 1 year ago

Thanks for reporting this. Without further inspection I am not sure how much there would be to do to prepare this in our moveit support package. We'll have a look.