ROS Manipulation in 5 Days - Unit 4: Exercise 4.3

[saygerinos]

Hello there,

I am having a problem here, nothing too serious. During the exercise 4.3 we want the manipulator to try and plan a trajectory to the home pose from the start pose, which should be blocked by a box. Although the box is being percieved by the pointcloud2 topic and the image_raw, when i click Plan, MoveIt doesnt say Failed like it should (neither the link, that will clearly collide with the box, shows the red colour). It instead plans the trajectory which if executed the link will eventually collide with the box in the simulation causing all kind of unwanted problems.

I have setup the MoveIt package as mentioned in the course. The urdf file of the box seems fine, but i cant feagure out whats causing this.

Thank you in advance for your help.

[rodrigo55]

Hi @saygerinos, welcome to the community!

My guess would be that the collision matrix was not re-generated after adding the box as an obstacle.

You can also temporarily set collision_detection to 1 (most strict) in MoveIt’s “Displays” tab in RViz.

[saygerinos]

Hi @rodrigo55 , thank you for the answer, much appreciated. I will try it to see if it fixes the issue.