Very lazy mapping package

The package gets the poses (myicub_ros/Markers) from the topic /markers, and addes the obstacles to moveIt. Obstacles dimentions sets from config/setup.yaml.

Installation

Install dependancies and than do

git clone https://github.com/be2rlab/lazy_mapping_moveit.git

catkin build

How to use

Launch the moveIt and add MotionPlanning instance. For exampla, we use ur5

roslaunch ur5e_moveit_config demo.launch

Run

roslaunch lazy_mapping_moveit obstacles_to_moveit.launch

Publish the message

rostopic pub -r 1 /markers myicub_ros/Markers "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
markers:
- header:
    seq: 0
    stamp:
      secs: 0
      nsecs: 0
    frame_id: ''
  id: 0.0
  pose:
    position:
      x: 0.0
      y: 0.0
      z: 0.0
    orientation:
      x: 1.0
      y: 0.0
      z: 0.0
      w: 1.0" 

where

• id is identifacator of a obstacle (for examle, an AR-code ID)

• pose is the obstacle pose

About config/setup.yaml

It includes the list obstacles, where each element is list too. The list has the following view [id, x_dim, y_dim, z_dim].