Ask Your Question
0

arm_navigation - cylindrical links don't avoid collision

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

Pedro gravatar image

Hi!

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!

edit retag flag offensive close merge delete

Comments

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

1 Answer

Sort by ยป oldest newest most voted
2

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.

edit flag offensive delete link more

Comments

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

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

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

Seen: 163 times

Last updated: Oct 17 '12