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tesseract-robotics / tesseract_ros

ROS Interface for the Tesseract Planning Environment.
http://tesseract-docs.rtfd.io
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my D435I depth camera mounted on arm_end_effector, how can i combined it with tesseract,to integrate octomap based on pointcloud topic in the planning server #179

Closed dbdxnuliba closed 1 year ago

dbdxnuliba commented 1 year ago

and my D435i rgbd camera mounted on arm_end_effector, has been calibrated ,so I can publish the pointcloud topic,so I want an integrated octomap based on pointcloud topic in the planning server where the octomap is added during motion planning request, andy related work is appreciated

https://github.com/tesseract-robotics/tesseract_ros/issues/172

Levi-Armstrong commented 1 year ago

This can be accomplished currently by doing the following.

  1. Get either the point cloud or the octree.
  2. Create tesseract_geometry::Octree type which can be constructed using either.
  3. Create add link command, see this example.
  4. Use the toMsg utility for converting the add link command to a message type and add this to your planning request message.