asked 2016-09-13 09:50:42 -0500

Chickenman gravatar image

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

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Take a look here if you have not already.

JoshMarino gravatar image JoshMarino  ( 2016-09-13 21:08:59 -0500 )edit

Thank you I read that but in answer half of the paragph three is 404 not found I mean the paragraph which starts: "See the MoveIt wiki for info on how to Retrieve Contact Info."

Chickenman gravatar image Chickenman  ( 2016-09-14 01:51:20 -0500 )edit