ROS Programming: Building Powerful Robots

World geometry monitor

As the name suggests, the world geometry monitor takes care of keeping track of the different aspects of what we consider to be the world. It uses an occupancy map monitor to build a 3D representation of the environment around the robot and augments it with the plannin_scene topic information, such as objects (for example, grasping objects); an octomap is used to register all this information. In order to generate the 3D representation, MoveIt! supports different sensors to perceive the environment by means of plugins supplying two kinds of inputs: point clouds and depth images.