Change URDF at run time

[Danfei]

Hi guys, we are trying to update robot URDF with external obstacles in real time for collision checking. Is there a way to overwrite existing collision avoidance state? Thanks!

[senaa]

If you're using a depth sensor, you can use built-in functionality in moveit with octomaps. You modify the planning scene rather than the urdf itself http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/perception_configuration.html

[Danfei]

Thanks for the response! The problem is that we want to do velocity/torque control rather than path planning. This requires a real-time collision handler similar to the built-in one.