Fetch in the robowflex planning scene has "world" frame and "base_joint" for integrating odometry. The movegroup we use to execute trajectories on the real robot does not have these frames.
This mismatch causes problems if you want to push a local robowflex scene to the movegroup scene. For example, the header of a collision object has the field frame, which would typically be "world" in robowflex scene, and "base_link" in movegroup scene.
The fix to this would be to programmatically modify the frame in the message. We need to see if there is any other fix to do.
Note: This problem does not affect executing an arm trajectory on move group.
Fetch in the robowflex planning scene has "world" frame and "base_joint" for integrating odometry. The movegroup we use to execute trajectories on the real robot does not have these frames.
This mismatch causes problems if you want to push a local robowflex scene to the movegroup scene. For example, the header of a collision object has the field frame, which would typically be "world" in robowflex scene, and "base_link" in movegroup scene.
The fix to this would be to programmatically modify the frame in the message. We need to see if there is any other fix to do.
Note: This problem does not affect executing an arm trajectory on move group.