Mastering ROS for Robotics Programming - Second Edition

Removing a collision object from the planning scene

Removing the collision object from the planning scene is easy. We have to create an object of moveit::planning_interface::PlanningSceneInterface, as we did in the previous example, along with some delay:

moveit::planning_interface::PlanningSceneInterface current_scene; 
sleep(5.0); 

Next, we need to create a vector of the string that contains the collision object IDs. Here, our collision object ID is seven_dof_arm_cylinder. After pushing the string to this vector, we will call removeCollisionObjects(object_ids), which will remove the collision objects from the planning scene:

std::vector<std::string> object_ids; object_ids.push_back("seven_dof_arm_cylinder"); current_scene.removeCollisionObjects(object_ids); ...