how can i change the panda collision area

asked 2021-03-24 04:36:45 -0600

Danroy gravatar image

Hallo everyone, i'm currently working with the franka emika robot with ros 1 (noetic). I have downloaded the panda config here. I noticed that at the end of the command it still says melodic-devel, but due to the fact that the tutorial is for noetic i guess its still okey to use it. After building the workspace i can launch the demo.launch file using roslaunch panda_moveit_config demo.launch. But when i add a box to the robot scene and move the hand next to the box it tells me that there is a collision even when both objects are not in collision/touching. (i would provide images, but i don't have enough points) When i open the setup assistant and check the collision box on the right side it seems that the savety area of the hand is to wide. Can anyone help me out, how i can fix this?

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Not a full response, just want to note that you can get a panda_moveit_config without that annoying collision bubble around the hand here.

fvd gravatar image fvd  ( 2021-03-24 08:02:10 -0600 )edit

thanks for the advise! I tested that package and your right. But i also have my own xacro file displaying my robot environment and i don't know what i have to change in order do use that moveit_config in my robot setup. There are also couple of changes in most of the files compared to the "typical" moveit_config package, so i'm not sure what to change to get my xacro data inside the package. If you can help me out or tell me what i have to change in order to get it running i would really appreciate it

Danroy gravatar image Danroy  ( 2021-03-25 01:07:43 -0600 )edit

You can replace the panda in your URDF(xacro) with the one from the panda_description of this package. There is a tutorial on how to edit URDF/SRDF files here.

fvd gravatar image fvd  ( 2021-03-25 01:36:40 -0600 )edit

Thanks again for your reply. I already tired that. But ill look into your link and check if it helps.

Danroy gravatar image Danroy  ( 2021-03-25 04:59:56 -0600 )edit