Josep,
there are multiple solutions.
Camera based:
http://www.ros.org/browse/details.php?name=camera_self_filter
http://www.ros.org/browse/details.php?name=model_completion

Laser based:
http://www.ros.org/wiki/robot_self_filter
http://www.ros.org/wiki/pr2_navigation_self_filter

D.


On Wed, May 25, 2011 at 2:36 PM, Josep Arnau Claret Robert
<jsprnclrtrbrt@hotmail.com> wrote:
> Dear comrades,
>
> does anyone know of any package to check selfcollisions of a robot?
>
> Thx!
>
> Josep
>
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>



-- 
MSc. Dejan Pangercic
PhD Student/Researcher
Intelligent Autonomous Systems Group
Technische Universität München
Telephone: +49 (89) 289-26908
E-Mail: dejan.pangercic@cs.tum.edu
WWW: http://ias.cs.tum.edu/people/pangercic