Plugin XML Reference and Example

Ros MoveIt Planning Scene Plugin. More...

Collaboration diagram for Plugin XML Reference and Example:

Classes
class	gazebo::GazeboRosMoveItPlanningScene

Detailed Description

Ros MoveIt Planning Scene Plugin.

This is a model plugin which broadcasts MoveIt PlanningScene messages so that the planning scene stays up-to-date with the world simulation. This is useful if you want to "fake" perfect perception of the environment.

Example Usage:

      <gazebo>
        <plugin filename="libgazebo_ros_moveit_planning_scene.so" name="gazebo_ros_moveit_planning_scene">
          <topicName>/planning_scene</topicName>
          <sceneName>laboratory</sceneName>
          <robotName>my_robot</robotName>
          <updatePeriod>0.5</updatePeriod>
        </plugin>
      </gazebo>

Design:

Note that while this is a model plugin, its primary purpose is to advertize information about the gazebo world. It's designed as a model plugin, however, since that information is relevant to the context of a single robot's planner. As such, this plugin should be loaded in the model representing the robot performing the planning.

At some period specified by <updatePeriod>, the plugin will publish the complete world state. If this period is 0, then periodic messages will not be published.

You can manually re-synch the world state by calling the publish_planning_scene service.