Realsense octomap in Moveit

hello-robot / stretch_ros2

ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc.

https://docs.hello-robot.com/0.2/stretch-tutorials/ros2/

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Realsense octomap in Moveit #61

Closed 2b-t closed 10 months ago

2b-t commented 10 months ago

The following minor changes make Moveit update the octomap from the point cloud published by the Realsense camera inside the head of the robot by default, see screenshot below:

moveit-octomap

For me for some reason this would not work with Moveit2 installed from Debian packages (2.3.4-1focal.20221208.*) while after compiling the Moveit2 galactic branch from source commit 1255936 it would work without any issues.

hello-binit commented 10 months ago

Thanks @2b-t for this PR! Looks good! @hello-chintan can we merge this?

hello-chintan commented 10 months ago

@2b-t, thanks for looking into this and contributing the changes!

@hello-binit, we can merge this PR since the changed parameters are not in conflict with our existing setup.

hello-binit commented 10 months ago

Great, thank you @2b-t!