Scene Objects Manager

A Node for object management in MoveIt2 Planning Scene environment with ROS 2 API.

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Development notes

The node functionalities should be based around MoveIt2 Docs.

• Objects types: box, sphere, cylinder, cone, mesh_from_file, mesh_from_url
• Implemented: box, sphere, cylinder, cone

Check the following messages definitions:

Msg	Src
moveit_msgs/msg/CollisionObject	link
object_recognition_msgs/msg/ObjectType	link
shape_msgs/msg/SolidPrimitive.msg	link

Libraries used

• argparse (MIT License)