def add_plane(self, name, pose, normal = (0, 0, 1), offset = 0):
""" Add a plane to the planning scene """
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
p = Plane()
p.coef = list(normal)
p.coef.append(offset)
co.planes = [p]
co.plane_poses = [pose.pose]
self._pub_co.publish(co)
def add_plane(self, name, pose, normal=(0, 0, 1), offset=0):
""" Add a plane to the planning scene """
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
p = Plane()
p.coef = list(normal)
p.coef.append(offset)
co.planes = [p]
co.plane_poses = [pose.pose]
self._pub_co.publish(co)
def create_plane(name,
pose,
normal=(0, 0, 1),
offset=0,
frame_id='/world_frame'):
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header.frame_id = frame_id
p = Plane()
p.coef = list(normal)
p.coef.append(offset)
co.planes = [p]
co.plane_poses = [pose]
return co
