[ompl-users] Adding obstacles during run-time

[saurav a. <sa...@gm...>]

Hi,

I'm working on implementing dynamic online replanning with OMPL.

Problem: What I intend is to construct a PRM (offline phase), then solve
and get the trajectory / nodes to follow. I create open loop controls to
follow this particular trajectory and what I would like is that a new
obstacle is loaded into the environment when the robot is moving. Assume I
have a method to detect and replan around the new obstacle.

My approach:
After constructing the initial PRM and solving for a plan, while executing
the online control, I use RigidBodyGeometry::addEnvironmentMesh to add a
new obstacle, which is loaded successfully and I can see it in the graphics
display. However the stateValidityChecker does not get updated and isn't
able to detect collisions with the new object loaded into the environment.

Would you have any suggestions to get collision checking working with the
updated environment geometry?

Thanks
Saurav