We’d like to be able to query the safety planes defined on the robot through ROS, either by subscribing to a topic or calling a ROS service.
The desired use case is to be able to instantiate the identical planes in a MoveIt Planning Scene so that we can run the same types of configuration safety checks that are run on the robot, for example to make a smart teleoperation node that respects the safety setup of the robot itself.
Is this currently possible? If not, please consider it a feature request!
The information about the safety settings can be found in the
safety.conf file on the robot.
The format is explained in the confirmation dialog, when you acknowledge the safety settings.
The normal is defined in the base frame as well as the origin distance is the shortest distance to the robot’s base origin.