Environment Representation

The environment representation tells the robot everything it needs to know about the world it is operating in, for collision checking and motion planning. The environment (or world) is represented by the [/doxygen/classplanning__scene_1_1PlanningScene.html PlanningScene] class. In this section, we will explore the PlanningScene class in detail.

Documentation

 * Overview - Learn about the planning scene architecture.
 * C++ API - Learn how to use the planning scene in C++ code inside your own planner.
 * ROS API - Learn how to use the planning scene monitor which builds a world representation that you can use.
 * Rviz Plugin - Editing the planning scene using the Rviz Plugin: loading scenes from CAD files, moving objects around, etc.
 * Associated Code, Packages - The packages and code that are core to this capability.

Links

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