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Version: 8

Interacting with the Planning Scene

An integral part of planning motions in MoveIt Pro involves the concept of a Planning Scene. The Planning Scene is the source of truth of the environment for the robot to plan motions in. More information on the Planning Scene can be found here.

In MoveIt Pro, there are multiple Behaviors that interact with the Planning Scene. These Behaviors can add collision objects to the Planning Scene, introspect the Planning Scene, attach objects to the robot in the Planning Scene, and much more!

Behaviors that interact with the Planning Scene​

Required Version
This feature requires MoveIt Pro version 8.0 or newer.

Introspecting the Planning Scene​

The following Behaviors are able to introspect and provide information about the Planning Scene.

  • GetCurrentPlanningScene
  • IsCollisionObjectInPlanningScene
  • IsAnyObjectAttached
  • WhichObjectIsAttached

Modifying the Planning Scene​

The following Behaviors are used to modify the Planning Scene.

  • ResetPlanningSceneObjects
  • UpdatePlanningSceneService
  • ModifyObjectInPlanningScene
  • AddVirtualObjectToPlanningScene
  • RemoveCollisionObjectFromPlanningScene

The following Behaviors are used for the tool changing workflow. You can learn more about tool changing here.

  • AddToolToScene
  • AttachTool
  • DetachTool
  • RemoveToolFromScene

It is also possible to add keepout zones and save and load a Planning Scene through the UI. More information on that can be found here.

Modifying the Planning Scene via MTC​

MoveIt Pro also has Behaviors which modify the Planning Scene via MTC stages. More information on motion planning and execution via MTC can be found here.

  • SetupMTCUpdateGroupCollisionRule
  • SetupMTCIgnoreCollisionsBetweenObjects
  • SetupMTCAttachObject
  • SetupMTCDetachObject
  • SetupMTCUpdateObjectCollisionRule

Interacting with the Planning Scene through the ROS 2 CLI​

When MoveIt Pro launches, a move_group node is launched which keeps track of the Planning Scene. The move_group node also advertises the /get_planning_scene and /apply_planning_scene services. It is possible to call these services through the moveit_pro shell command.

Below is an example of calling the /get_planning_scene service and spawning a small box in the Planning Scene via the /apply_planning_scene service.

$ moveit_pro shell
Launching an interactive Shell...
Sourcing Overlay workspace.
Sourcing User workspace.
user@🐙MoveIt Pro🐙:~/user_ws$ ros2 service call /get_planning_scene moveit_msgs/srv/GetPlanningScene 
requester: making request: moveit_msgs.srv.GetPlanningScene_Request(components=moveit_msgs.msg.PlanningSceneComponents(components=0))

response:
<response-from-service-call>

user@🐙MoveIt Pro🐙:~/user_ws$ ros2 service call /apply_planning_scene moveit_msgs/srv/ApplyPlanningScene "{\
scene: {\
  is_diff: true,\
  world: { \
    collision_objects: [ \
      { \
        id: 'box1', \
        header: { frame_id: 'world' }, \
        primitives: [ { type: 1, dimensions: [0.05, 0.05, 0.05] } ], \
        primitive_poses: [ \
          { \
            position: { x: 0.5, y: 0.0, z: 1.025 }, \
            orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } \
          } \
        ] \
      } \
    ] \
  } \
}\
}"