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Improve PSM documentation #983

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Oct 25, 2024
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Improve PSM documentation #983

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4 changes: 4 additions & 0 deletions doc/concepts/planning_scene_monitor.rst
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Expand Up @@ -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
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