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Published 20 hours ago • verified publisher icon ros-planning

fixing adding tables to the collision world

Open nlyubova opened this issue 9 years ago • 8 comments

@vrabaud : fyi

nlyubova avatar Apr 28 '15 15:04 nlyubova

This PR seems to have a lot of changes that are not relevant to the fix being made. @nlyubova could you please update this PR and remove all your debug comments.

sachinchitta avatar Nov 21 '15 21:11 sachinchitta

I've just cleaned the last commit, sorry for the debug comments.

nlyubova avatar Nov 26 '15 16:11 nlyubova

Could you address hersh's comment too.

sachinchitta avatar Nov 26 '15 20:11 sachinchitta

I believe that hersh's comment is the correct way.

If I understand this correctly, tables are added as planar meshes. This is a problem for the point cloud updaters, where a 3D convex hull is produced that degenerates. This leads to arbitrarily large portions of the octree being removed. So, I'd recommend to add a fixed table height.

dornhege avatar Jan 20 '16 16:01 dornhege

When I try the Hersh's way, the table is not displayed, so I do not know a better way to fix it

nlyubova avatar Jan 20 '16 22:01 nlyubova

@nlyubova do you have any interest in moving this change to the new repo? https://github.com/ros-planning/moveit

otherwise I will close it for now

davetcoleman avatar Sep 08 '16 00:09 davetcoleman

It seems everyone involved in this request agrees that there is a problem with adding tables to the collision world. I'd like to keep this open as a reference until this is either fixed or at least ported.

v4hn avatar Sep 08 '16 02:09 v4hn

i closed it because no good solution seemed to have ever been found, but i'll close PRs with a little more caution

davetcoleman avatar Sep 08 '16 20:09 davetcoleman