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1 | initial version |
-33 means IK_LINK_IN_COLLISION. so make sure that at your goal pose your robot does not collide with other objects.
2 | No.2 Revision |
-33 means IK_LINK_IN_COLLISION. so make sure that at your goal pose your robot does not collide with other objects.objects.
To check the detailed collision information, use the following code:
assuming that you have a variable planning_environment::CollisionModels* cm_, then you can use:
std::vector<arm_navigation_msgs::ContactInformation> contacts;
cm_->getAllCollisionsForState(*state,contacts);
for(int i=0;i<contacts.size();i++)
{
std::cout<<contacts[i].contact_body_1<<" and "<<contacts[i].contact_body_2
<<" in collision"<<std::endl;
}