Planning with obstacles
In the previous examples, the robot could move freely without considering obstacles, and the motion planner only needed to account for potential self-collisions. However, this is not realistic, as robots typically operate in environments containing objects that might collide with the robot. In this section, we’ll explore how to add objects to the planning scene that the robot must avoid or interact with. For instance, in a grasping application, once an object is grasped, it becomes part of the manipulator, requiring the planner to consider it in future trajectories.
Let’s discuss the content of the planning_with_obstacles.cpp source file contained in the panda_moveit_control package:
- In this source file, we include two additional headers to manage collision objects:
#include <moveit_msgs/msg/attached_collision_object.hpp> #include <moveit_msgs/msg/collision_object.hpp> - Let’s now modify the...
