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2020-01-29 03:36:03 -0500 marked best answer MoveIt detect collision for disabled links in SRDF

Hello,

I’m new to this community so if I’ve made some mistakes please let me know. My problem description is as follows:

I created a new arm+sensor+gripper URDF and used the MoveIt Setup Assistant to generate a MoveIt config package. When I use MoveGroup to move the arm I get this error:

Found a contact between 'gripper_finger1_inner_knuckle_link' (type 'Robot link') and 'gripper_finger1_finger_tip_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.

In my SRDF these 2 links are disabled:

<disable_collisions link1="gripper_finger1_finger_tip_link" link2="gripper_finger1_inner_knuckle_link" reason="Adjacent" />

I’ve also tried updating the allowed collision matrix by updating the planning scene diff and then call apply_planning_scene service.

At this point I’m not sure what else to try. I hope you guys can help me. Thank you.

EDIT: I'm using Ubuntu 18.04 and ROS Melodic. MoveIt is installed from deb

2020-01-28 18:53:22 -0500 answered a question MoveIt detect collision for disabled links in SRDF

I figured out what I did wrong: I updated the allowed collision matrix in the planning scene and I think this overrides

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2020-01-28 03:30:12 -0500 asked a question MoveIt detect collision for disabled links in SRDF

MoveIt detect collision for disabled links in SRDF Hello, I’m new to this community so if I’ve made some mistakes pleas

2020-01-27 15:31:10 -0500 commented answer Planning requests counting collisions between robot links that should be ignored?

I'm having the same issue and tried your suggestions but the error is still there. Any other suggestions?