How to turn on self collision detection in Gazebo? [closed]

asked 2012-08-22 09:57:23 -0600

lbwdruid gravatar image

Hi, I'm trying to model things in simulator Gazebo. I found out that Gazebo does not detect self collision, that is, a link of a model can run into another link of the same model, but if the links are from different models, they will not run into each other. I tried to add


part into my urdf document, but it still won't work. How to turn on self collision detection in Gazebo?

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Closed for the following reason question is off-topic or not relevant. Please see for more details. by tfoote
close date 2015-03-03 02:00:26.583503


Anybody here can help me? Thanks a lot in advance!

lbwdruid gravatar image lbwdruid  ( 2012-08-22 11:16:11 -0600 )edit

Yes I don't think self collide has been working for a while. I thought I saw a post about it in the last 3 days, but I can't find it.

dbworth gravatar image dbworth  ( 2012-09-09 04:54:09 -0600 )edit

Please ask gazebo questions at

tfoote gravatar image tfoote  ( 2015-03-03 02:00:21 -0600 )edit