Open Danilrivero opened 5 months ago
Hi, what do you use for planning? MoveItCpp
in your node or a standalone move_group
node?
The button in rviz plugin triggers /clear_octomap
service which is a capacity in move_group
node.
If you are using MoveItCpp
inside your own node, use moveit_cpp->getPlanningSceneMonitorNonConst()->clearOctomap();
to clear the octomap.
Hi, what do you use for planning?
MoveItCpp
in your node or a standalonemove_group
node?The button in rviz plugin triggers
/clear_octomap
service which is a capacity inmove_group
node. If you are usingMoveItCpp
inside your own node, usemoveit_cpp->getPlanningSceneMonitorNonConst()->clearOctomap();
to clear the octomap.
In this case I use the standalone move_group
node. I have verified that by constantly updating the octomap, this is, constantly publish a pointcloud to the defined topic inside thesensors_3d.yaml
it will properly clear due to the octomap constantly being updated.
This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.
Bumping this in case anyone is available to do this backport since the fixes exist back in MoveIt1. Else I will do it once I am available.
This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.
Description
Directly related to the following solved issues from MoveIt.
https://github.com/ros-planning/moveit/issues/3380 https://github.com/ros-planning/moveit/pull/3134
When the pcd topic does not publish, the "clear octomap" option in MotionPlanning from rviz2 will not clear the map. If the pcd topic does publish, the map will update based on the pcd and can't be cleared completely. In the move_group's PS, the octomap is correctly cleared even though it seems not to update through rviz2. @rhaschke may have information on this looking at his PR in MoveIt.
Your environment
Steps to reproduce
Publish a pointcloud using the _sensors3d.yaml module for the generation of the octomap. The generated octomap will not clear entirely unless updated at the same time through the publishing of a new pcd (moreover always having a PS containing octomap parts).
Expected behaviour
When calling the "/clear_octomap" service the module should clear the octomap even though it would presumably update within the next update if pcd is being published.
Actual behaviour
The module does not update the octomap unless being updated with the publishing of a new pcd.
Backtrace or Console output
Usage of the following configuration file: sensors_3d.yaml.
Seems like it requires to sync the PR made in MoveIt to MoveIt2.