Update planning scene topic and octomap collision check servo paramet…

…ers (#240)

src/picknik_ur_base_config/config/moveit/ur_servo.yaml

@@ -39,6 +39,7 @@ acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_perio
 move_group_name: manipulator  # Often 'manipulator' or 'arm'
 acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
 is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
+monitored_planning_scene_topic: /monitored_planning_scene
 
 ## Stopping behaviour
 incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command
@@ -56,7 +57,8 @@ status_topic: ~/status # Publish status to this topic
 command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
-check_collisions: true # Check collisions?
+check_collisions: true  # Check collisions?
+check_octomap_collisions: false  # Check collisions with octomap?
 collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 self_collision_proximity_threshold: 0.006 # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]

src/picknik_ur_gazebo_config/config/moveit/ur_servo.yaml

@@ -39,6 +39,7 @@ acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_perio
 move_group_name: manipulator  # Often 'manipulator' or 'arm'
 acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
 is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
+monitored_planning_scene_topic: /monitored_planning_scene
 
 ## Stopping behaviour
 incoming_command_timeout: 0.05  # Stop servoing if X seconds elapse without a new command
@@ -57,6 +58,7 @@ command_out_topic: /robot_controllers/joint_trajectory # Publish outgoing comman
 
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
+check_octomap_collisions: false  # Check collisions with octomap?
 collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]

src/picknik_ur_mock_hw_config/config/moveit/ur_servo.yaml

@@ -37,6 +37,7 @@ acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_perio
 move_group_name: manipulator  # Often 'manipulator' or 'arm'
 acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
 is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
+monitored_planning_scene_topic: /monitored_planning_scene
 
 ## Stopping behaviour
 incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command
@@ -55,6 +56,7 @@ command_out_topic: /servo_controller/joint_trajectory # Publish outgoing command
 
 ## Collision checking for the entire robot body
 check_collisions: true  # Check collisions?
+check_octomap_collisions: false  # Check collisions with octomap?
 collision_check_rate: 20.0  # [Hz] Collision-checking can easily bog down a CPU if done too often.
 self_collision_proximity_threshold: 0.006  # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.02  # Start decelerating when a scene collision is this far [m]