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detecting collisions between multiple urdf's

I have a system where I have a network of robots driving around. I have a urdf that contains the geometric description of each robot, and a tf tree set to properly show each urdf in rviz. In other words, as the real robots drive around, their urdf's move in rviz in the same way. I notice that you can turn collision detection on and off in rviz. Is it possible to use a pre-existing ROS package of some kind to detect collisions between these urdf's? Is there a better way to do this?