Broadcasting objects from Gazebo to Rviz

[Wurmi1010]

Dear @erdalpekel,

I am now trying to create a planning scene in gazebo, but doesn't know how to publish that to Rviz. I tried it with the box you created through the box.launch file. But it doesn't show up in Rviz, I don't know if this should be the case or not.

I tried to understand the hierachy of the launch files with the rqt_graph, but didn't find it really helpful, because the "box_state_publisher" and "robot_state_publisher" seem to have the same connections from the "gazebo" node to the "move_group" node.

Can you give me some advice on how to publish the box to Rviz?

Kind regards,
Christian