Mastering ROS for Robotics Programming - Second Edition

MoveIt! planning scene

The term "planning scene" is used to represent the world around the robot and store the state of the robot itself. The planning scene monitor inside move_group maintains the planning scene representation. The move_group node consists of another section called the world geometry monitor, which builds the world geometry from the sensors of the robot and from the user input.

The planning scene monitor reads the joint_states topic from the robot, and the sensor information and world geometry from the world geometry monitor. The world scene monitor reads from the occupancy map monitor, which uses 3D perception to build a 3D representation of the environment, called Octomap. Octomaps can be generated from point clouds, which ...