Interesting, right? But how does this work? What's going on internally? Let's discuss it a little bit.
Basically, we are using a plugin (PointCloudUpdater) that brings the simulated PointCloud obtained from the camera that is placed in fetch's head, into the MoveIt planning scene.
The robot environment is mapped as an octree representation, which can be built using a library called OctoMap. The OctoMap is incorporated as a plugin in MoveIt (called the Occupancy Map Updater plugin), which can update octree from different kinds of sensor inputs, such as PointClouds and depth images from 3D vision sensors.
Currently, there are the following plugins for handling 3D data in MoveIt:
- PointCloud Occupancy Map Updater: This plugin can ...