Week 14
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GSOC Coding Week 14 Progress Report
Week 14: Testing the Planning Scene
This week’s focus was on testing the planning scene after restructuring the launch system in Week 13. The planning scene successfully started working, but there are still refinements needed before it behaves as intended.
What I Did This Week
- Tested the planning scene integration.
- Verified that the planning scene monitor is now properly publishing and updating in RViz.
- Confirmed that the motion planner responds to changes in the scene.
- Identified an issue with object visualization.
- The planning scene should only represent the environment (e.g., robot, table, workspace).
- However, the detected objects are also appearing in the planning scene, which can cause confusion and incorrect collision checks.
- Validated motion planning.
- Despite the object visualization issue, the robot is able to plan and execute motions with the planning scene active.
- This is an important step toward full integration.
Problems I Encountered
- The planning scene currently includes objects from perception, when it should only include static environment elements.
- This creates unnecessary clutter and could affect collision reasoning.
Solutions Implemented
- Completed initial testing to confirm that the planning scene monitor is active and functional.
- Logged the object visualization issue for correction in the next development cycle.
Conclusion
Planning sence Demo
The planning scene is now working and integrated into the workflow, marking another milestone in the migration process.
- Motion planning reacts to scene updates.
- The next challenge is ensuring that the planning scene only represents the environment and excludes objects.
For Week 15, I plan to focus on:
- Refining the planning scene so it only represents the environment.
- Starting the integration of the exercise into the Robotics Academy infrastructure.
📍 Posted from Barcelona, Spain
🧠 Project: Migration and Enhancement of Machine Vision Exercise to ROS2 + MoveIt2
