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Display in RViz the collision geometry tag of an URDF link

asked 2019-07-31 14:42:24 -0500

updated 2021-09-26 18:12:01 -0500

lucasw gravatar image

Is it possible to display in RViz the collision geometry tag (box, sphere, cylinder etc.) of an URDF link tag?

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answered 2019-07-31 21:35:43 -0500

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 -0500

Seen: 963 times

Last updated: Sep 26 '21