Hi guys!

I have my robot manipulator controlled with joystick through velocity controller interface. Is there a way to implement realtime collision detection? I read a lot of forums but cannot find proper answer. I am looking for something that is able to tell me nearest distance of links of my arm. Then I can use this distance and setup robot to stop when it reaches minimum distance. Am I able to check this information in Moveit ??

I had also read something about fast collision library (FCL) but I can only get distance from two objects but I am looking for some smart way to check this distance.

Thank you for your time and help