Display in RViz the collision geometry tag of an URDF link
Is it possible to display in RViz the collision geometry tag (box, sphere, cylinder etc.) of an URDF link tag?
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Is it possible to display in RViz the collision geometry tag (box, sphere, cylinder etc.) of an URDF link tag?
Yes, if you add a RobotModel display in rviz and expand its options in the Displays panel, you should see a checkbox for "Collision Enabled". If you check it, you can see the collision models for your robot that were read from the URDF. A nice example of that can be found here.
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Asked: 2019-07-31 14:42:24 -0600
Seen: 799 times
Last updated: Sep 26 '21
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