def scene_callback(self, msg):
kinect_in_scene = False
for object in msg.world.collision_objects:
should_remove = False
time_since_seen = rospy.Time.now()
if object.id not in self.last_time_seen.keys():
should_remove = True
else:
time_since_seen = rospy.Time.now() - self.last_time_seen[
object.id]
should_remove |= time_since_seen > default_object_timeout
if should_remove:
rospy.loginfo("Object " + object.id +
" has not been seen in at least " +
str(time_since_seen.to_sec()) +
". Removing object from MoveIt collision scene")
#self.scene.remove_world_object(object.id)
if object.id == "kinect":
kinect_in_scene = True
if not kinect_in_scene:
MoveHelper.add_kinect(self.transformer)
