Ask Your Question
1

MoveArmGoal with collision checking disabled?

asked 2011-12-19 00:43:02 -0600

Ibrahim gravatar image

I'd like to use move_arm to send the arm through some trajectory with perhaps some path constraints or something, but with collision checking disabled. What's the easiest way to do that? I've been fiddling with arm_navigation_msgs/OrderedCollisionOperations and setting the operation to 0 for "all" but that doesn't do anything, and I also tried setting things in arm_navigation_msgs/AllowedCollisionMatrix but that didn't work either. Any tips? Incidentally, I'm curious what these messages are supposed to be for, even if they aren't what I want. Thanks!

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
1

answered 2011-12-19 03:13:04 -0600

jbarry gravatar image

Create a CollisionOperation op and set:

op.object1 = op.COLLISION_SET_ALL

op.object2 = op.COLLISION_SET_ALL

op.operation = op.DISABLE

and add it to the MoveArmGoal.

It sounds like you already tried something similar, but these can be tricky to get exactly right (for example using "all" or all instead of op.COLLISION_SET_ALL doesn't work) so I'd recommend trying it again. I use the collision operations frequently with MoveArm and they do work in the way you expect.

Note that you need to pass the collision operation as part of the move arm goal; it won't work to set the planning scene because MoveArm resets it.

edit flag offensive delete link more

Comments

Ah, I forgot to set object2, and then realized that it was nearly 6am and I should go to sleep. Cool, will try this out in a bit.
Ibrahim gravatar imageIbrahim ( 2011-12-19 04:56:45 -0600 )edit
0

answered 2011-12-19 02:31:55 -0600

David Lu gravatar image

If you just want to move the arm (and not necessarily move_arm), there's always JointTrajectoryAction

edit flag offensive delete link more

Comments

Yeah, I know how to do it that way but I was specifically curious about move_arm.
Ibrahim gravatar imageIbrahim ( 2011-12-19 04:55:37 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2011-12-19 00:43:02 -0600

Seen: 256 times

Last updated: Dec 19 '11