19 from geometry_msgs.msg
import Pose
20 from moveit_msgs.msg
import CollisionObject
21 from shape_msgs.msg
import SolidPrimitive, Mesh
24 if __name__ ==
"__main__":
25 rospy.init_node(
"simple_obstacle_pub")
26 root_frame =
"torso_center_link" 28 pub = rospy.Publisher(
"/collision_object", CollisionObject, queue_size = 1)
34 x.header.frame_id = root_frame
35 x.operation = CollisionObject.ADD
37 sphere = SolidPrimitive()
38 sphere.type = SolidPrimitive.BOX
39 sphere.dimensions.append(0.001)
40 sphere.dimensions.append(0.001)
41 sphere.dimensions.append(0.001)
42 x.primitives.append(sphere)
48 pose.orientation.x = 0.0;
49 pose.orientation.y = 0.0;
50 pose.orientation.z = 0.0;
51 pose.orientation.w = 1.0;
52 x.primitive_poses.append(pose)