Hi Josep, maybe planning_environment provides the functionality you are looking for. http://www.ros.org/wiki/planning_environment Lorenz > > Hi Dejan > > thx for ur quick answer, but i think my question was not very explanatory. > > My idea is how to check the self collions of a robot in a virtual environment, that is, the robot with a certain configuration, a package able to tell if in that configuration any pair of the robot meshes are colliding. > > Josep > > > Date: Wed, 25 May 2011 14:55:18 -0700 > > From: dejan.pangercic@gmail.com > > To: ros-users@code.ros.org > > Subject: Re: [ros-users] robot selfcollision package > > > > 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 > > wrote: > > > Dear comrades, > > > > > > does anyone know of any package to check selfcollisions of a robot? > > > > > > Thx! > > > > > > Josep > > > > > > _______________________________________________ > > > ros-users mailing list > > > ros-users@code.ros.org > > > https://code.ros.org/mailman/listinfo/ros-users > > > > > > > > > > > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users -- Lorenz Mösenlechner | moesenle@in.tum.de Technische Universität München | Boltzmannstr. 3 85748 Garching bei München | Germany http://ias.cs.tum.edu/ | Tel: +49 (89) 289-26910