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arm_navigation - cylindrical links don't avoid collision

asked 2012-10-17 05:28:19 -0500

Pedro gravatar image


I'm following the arm_navigation tutorials and I went through the planning description configuration wizard successfully. However, when trying 'Planning Components Visualizer', I couldn't get my custom robot to avoid a pole, it would always go through it as if it wasn't there.

All links of my robot were defined as cylinders in the urdf file, but when I converted them to boxes, the robot started avoiding the pole successfully.

Is this supposed to be like this, or is it a bug (or my problem maybe)?

Thanks in advance!

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Maybe you only added visual, but not collision? According to your description it doesn't seem so and it might be a bug that should be filed.

dornhege gravatar image dornhege  ( 2012-10-17 05:42:17 -0500 )edit

I added both. Visual can be a cylinder, as long as collision is a box.

Pedro gravatar image Pedro  ( 2012-10-17 05:53:38 -0500 )edit

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answered 2012-10-17 06:04:39 -0500

AHornung gravatar image

I remember running into this problem as well. ODE, which is used by arm navigation for collision checking, does not support native cylinder-cylinder collision checks. This is known and should result in an error. I think there may even be a bug when checking collisions between other shapes and cylinders.

I don't think it will be fixed though, but the planned replacement MoveIT will use FCL for collision checks. It should work better there.

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I confirm this is a bug though I can't find the ticket at the moment. Recommended hack is to make a mesh of a cylinder.

David Lu gravatar image David Lu  ( 2012-10-17 07:22:30 -0500 )edit

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Asked: 2012-10-17 05:28:19 -0500

Seen: 199 times

Last updated: Oct 17 '12