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Query location of collision geometry in ros

asked 2022-04-21 16:33:24 -0500

prajwal98
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Hello everyone, I am working on a manipulator (Franka panda) where I need to query the position of the collision shape defined on each link. For Franka panda collision shape is defined by primitives shapes (like sphere and cylinder) in urdf under collision tag. I know that we can get the status of each link defined in the visual tag, but is there any easy way to do it for shapes defined in the collision tag?

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answered 2022-04-23 12:30:23 -0500

Mike Scheutzow
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I don't know of any ROS API to obtain collision geometry. I would have the node read the robot_description from the ros param server, and parse the xml to extract the tags.

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Hi Mike . Thank you for your reply .but i want to query the location (eg center of mass position ) of collision geometry defined for say link 1 wrt to the base_frame or world frame after I move the manipulator. (ig I was not clear in question ) .loading the robot_derscription will simply give the sacro/urdf file .

prajwal98 ( 2022-04-24 09:41:30 -0500 )edit

Yes, you will need two pieces of information to get the answer: the current pose of the link you are interested in, and the geometric information about the collision geometry. I interpreted your question to be about the 2nd part.

Mike Scheutzow ( 2022-04-24 11:25:27 -0500 )edit

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Asked: 2022-04-21 16:33:24 -0500

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Last updated: Apr 23 '22

Query location of collision geometry in ros edit

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Query location of collision geometry in ros