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Robot Operating System Cookbook by Kumar Bipin

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Adding perception to MoveIt

In order to be able to add a sensor to the MoveIt package that we created in the previous section, we'll need to make some modifications inside the package.

First of all, we'll need to create a new file inside the config folder named sensors_rgbd.yaml, and inside that file, copy in the following contents:

sensors: 
    - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater 
      point_cloud_topic: /head_camera/depth_registered/points 
      max_range: 5 
      padding_offset: 0.01 
      padding_scale: 1.0 
      point_subsample: 1 
      filtered_cloud_topic: output_cloud 

Basically, we are configuring the plugin that we'll use in order to interface the 3D sensor with MoveIt. The parameters that we are defining in the file are as follows:

  • sensor_plugin ...

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