ROS Programming: Building Powerful Robots

The support surface

We proceed similarly to create the object for the table, which is also approximated by a box. Therefore, we simply remove any previous object and add the table. In this case, the object name is table:

# Retrieve params: 
self._table_object_name = rospy.get_param('~table_object_name',  'table')

# Clean the scene: 
self._scene.remove_world_object(self._table_object_name) 
 
# Add table and Coke can objects to the planning scene: 
self._pose_table = self._add_table(self._table_object_name) 

The _add_table method adds the table to the planning scene:

def _add_table(self, name): p = PoseStamped() p.header.frame_id = self._robot.get_planning_frame() p.header.stamp = rospy.Time.now() p.pose.position.x = 1.0 p.pose.position.y = 0.0 ...