search

yijiangh / choreo

Choreo: robotic motion planning platform for discrete architectural assembly
34 stars 10 forks source link

[PickNPlace] Final plan visualization: attach picked block to robot EE's moving TF #110

Open yijiangh opened 6 years ago

yijiangh commented 5 years ago

After diving into moveit!'s source code for a while, I realized that we need to reply on planning_scene for visualizing robot state and attached obj in Rviz. We need to attach a planning_scene object / planning_scene_monitor to every "component" of the large plan skeleton.

See moveit!'s plan_representation.