ROS Programming: Building Powerful Robots

Removing objects from the planning scene

Removing the added object from the planning scene is a very simple process. Following the same initialization as in the previous example, we only need to create a string vector containing the IDs of the objects we want to remove and call the removeCollisionObjects function from the planning scene interface:

std::vector<std::string>object_ids; 
object_ids.push_back("rosbook_box"); 
current_scene.removeCollisionObjects(object_ids); 

We can test this snippet by running the following command, which will remove the object created with the previous snippet from the planning scene:

    $ rosrun rosbook_arm_snippets move_group_remove_object  

Alternatively, we can also use the Scene objects tab in the RViz plugin ...