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Yeah, the documentation linked isn't the most detailed (feel free to make an issue, I'd like to fix this at some point). You're correct in that the actual interfaces you need to be implementing is collision_robot, and collision_world. Once you have implemented those two classes, you should be able to copy-paste the "Typical Usage" (that is the main focus of the current documentation).

As for what interacts with the collision checker, it's mostly the Planning Scene and by extension the Motion Planners that use the planning scene to avoid objects.

The CollisionResult object should be enough to implement what you're talking about, but I'd heavily suggest integrating this collision checker with a motion planner yourself, from your description I don't think the default motion planners would take advantage of this special collision information.