PlanningSceneInterface::clearScene()

[v4hn]

The best reliable way I know for user nodes to remove all objects from the planning scene is this:

   moveit::planning_interface::PlanningSceneInterface psi;
   moveit_msgs::PlanningScene rm;
   rm.is_diff = true;
   rm.robot_state.is_diff = true;
   rm.robot_state.attached_collision_objects.resize(1);
   rm.robot_state.attached_collision_objects[0].object.operation = moveit_msgs::CollisionObject::REMOVE;
   rm.world.collision_objects.resize(1);
   rm.world.collision_objects[0].operation = moveit_msgs::CollisionObject::REMOVE;
   psi.applyPlanningScene(rm);

I would propose to simplify this to

   moveit::planning_interface::PlanningSceneInterface psi;
   psi.clearScene();

Opinions? Additions? Alternatives?

[felixvd]

I am all for this - in fact, it already exists in Python and the function should be linked if a C++ implementation is added.

[pvanlaar]

PlanningScene has a removeAllCollisionObjects() method. Doesn't that work in this case? The planning_interface does not work with MoveItCpp I believe, but then the PlanningScene can be accessed through the PlanninSceneMonitor. So removeAllCollisionObjects() works for both MoveGroupInterface and MoveItCpp.

[v4hn]

PlanningScene has a removeAllCollisionObjects() method. Doesn't that work in this case?

Using the MGI/PSI you usually interact with the PlanningScene of a move_group ROS node. You don't have access to this method of the C++ PlanningScene class from outside the node and the PSM does not help with that.

For MoveItCpp I agree though.

[aaryanmurgunde]

Hi, I am new to open source contributing if this issue still exists, I would like to work on it.

If yes, then can the simple steps stated below be included in the PSI to create a function in PSI and then just psi.clearScene()

Would that be a viable solution?

The best reliable way I know for user nodes to remove all objects from the planning scene is this:

   moveit::planning_interface::PlanningSceneInterface psi;
   moveit_msgs::PlanningScene rm;
   rm.is_diff = true;
   rm.robot_state.is_diff = true;
   rm.robot_state.attached_collision_objects.resize(1);
   rm.robot_state.attached_collision_objects[0].object.operation = moveit_msgs::CollisionObject::REMOVE;
   rm.world.collision_objects.resize(1);
   rm.world.collision_objects[0].operation = moveit_msgs::CollisionObject::REMOVE;
   psi.applyPlanningScene(rm);

[rhaschke]

@aaryanmurgunde, you are very welcome to work on this. Concrete TODOs:

• [ ] Wrap the listed code snippet into a new function in PlanningSceneInterface::clear().
• [ ] Optionally use that function also in python code as suggested here
• [ ] Test everything. Ideally, provide a new unit test for it.

[aaryanmurgunde]

@aaryanmurgunde, you are very welcome to work on this. Concrete TODOs:

• [x] Wrap the listed code snippet into a new function in PlanningSceneInterface::clear().
• [ ] Optionally use that function also in python code as suggested here
• [x] Test everything. Ideally, provide a new unit test for it.

@rhaschke I'm not sure about the wrapper for python if you could help me understand that then I can build for the same as well.

Thank You : )

[rhaschke]

Just use the newly implemented function in python, i.e. call self._psi.clear(). This requires clear to be exposed by the python wrapper of PlanningSceneInterface.

[aaryanmurgunde]

@rhaschke For the python wrapper file wrapper_python_planning_scene_interface.cpp on line L112 adding

+  bool clearPython()
+  {
+    return clear();
+  }

and on line L126

+ planning_scene_class.def("clear", &PlanningSceneInterfaceWrapper::clearPython);

and in the planning_scene_interface.py on line L171

# replace 
- self.remove_attached_object()
- self.remove_world_object()

# with
+ self._psi.clear()

Any other changes that need to made ?

[rhaschke]

I suffices to define the wrapper like this (no need to define clearPython()):

- planning_scene_class.def("clear", &PlanningSceneInterfaceWrapper::clearPython);
+ planning_scene_class.def("clear", &PlanningSceneInterfaceWrapper::clear);

[aaryanmurgunde]

• [x] Wrap the listed code snippet into a new function in PlanningSceneInterface::clear().
• [x] Optionally use that function also in python code as suggested here
• [x] Test everything. Ideally, provide a new unit test for it.

Done! pushed a commit for that as well.

Thank you so much for helping me out @rhaschke. It has been a big learning curve, I'm now much more prepared to work more on fixing issues and contributing to Open Source.

[aaryanmurgunde]

Let's Close this issue then @rhaschke ?

[rhaschke]

This issue will be closed via #2764.