cnr_scene_manager

The cnr_scene_manager package provides a tool to dynamically load and unload objects to and from the MoveitPlanningScene. It interfaces with the MoveitPlanningScene through the cnr_tf_named_object_loader.

Dependencies

This package relies on the following dependencies:

• cnr_param: For reading parameters.
• cnr_logger: For logging.
• cnr_tf_named_object_loader: For interfacing with the MoveitPlanningScene.

How It Works

The core functionality is provided by the cnr_scene_manager_node. This node maintains a list of available object descriptions read from parameters and uses them to load the scene at startup or during runtime.

Initialization

When launched, the node reads available object descriptions from the parameter namespace param_ns/object_geometries, where param_ns is the first-level namespace provided to the node (see the example launch file). These object descriptions are stored and referred to as registered objects.

Loading the Initial Scene

The initial scene is loaded based on the description provided under the parameter namespace param_ns/scene_objects. All objects referred to in the scene must be registered objects.

Dynamic Scene Management

The node provides the following services to dynamically manage the scene during runtime:

• cnr_scene_manager/add_objects: Adds registered objects to the scene.
• cnr_scene_manager/move_objects: Moves registered objects to different poses in the scene.
• cnr_scene_manager/remove_objects: Removes registered objects from the scene.

Run an example

You can run an example by launching roslaunch cnr_scene_manager cnr_scene_manager_test.launch, but you need to download this package first.

Examples and Configuration

• An example of object and scene descriptions can be found in this config file.
• The necessary services and messages are defined in this package.