From 1fe7db4be8cc19e04fea770fe4a36554a53e4477 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 25 Oct 2024 13:37:26 +0200 Subject: [PATCH] Improve PSM documentation (#983) --- doc/concepts/planning_scene_monitor.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/doc/concepts/planning_scene_monitor.rst b/doc/concepts/planning_scene_monitor.rst index 985aad22b1..1608e3b36f 100644 --- a/doc/concepts/planning_scene_monitor.rst +++ b/doc/concepts/planning_scene_monitor.rst @@ -5,6 +5,10 @@ Planning Scene Monitor The ``planning scene`` is an object used for storing the representation of the world around the robot and also the state of the robot itself. The internal state of the ``planning_scene`` object is typically maintained by a ``planning_scene_monitor`` component that enables reading and writing the state in a thread-safe manner. +Particularly, the ``move_group`` node as well as the rviz planning scene plugin maintain their own Planning Scene Monitor (PSM). +The ``move_group`` node's PSM *listens* to the topic ``/planning_scene`` and *publishes* its planning scene state to the topic ``monitored_planning_scene``. +The latter is listened to by the rviz planning scene plugin. + .. image:: /_static/images/planning_scene_monitor.svg World Geometry Monitor