Octomap update after adding collision object

asked 2016-02-22 02:01:44 -0500

Ane gravatar image

I'm working with collision avoidance with an UR10 and Ensenso vision system. My moveit_config package is only based on the UR10 urdf, so, the first thing that I do in my application is adding the environment as collision object with a stl file. The environment is so simple, a table with a support for the camara. After adding the stl file as a collision object to the scene, I can see how the the octomap is updated removing the table from it. However it also removes all the elements that there an on the table. Instead of using a stl file, if I use solid promitives to define the collision object, the problem disappears. I think the problem is related with the stl file creation but I don't know what i'm doing wrong. I'm using blender to generate the stl file. Nobody knows what I'm doing wrong?

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This could be due to MoveIt inflating the mesh with a certain amount. Might be worthwhile to look into the 'padding' settings and how they influence mesh based collision objects.

gvdhoorn gravatar image gvdhoorn  ( 2016-02-22 03:27:19 -0500 )edit

I am facing exactly the same problem. Did you find any solution to this?

ipa-hsd gravatar image ipa-hsd  ( 2016-10-26 09:17:58 -0500 )edit