Hi David, The planning environment will be perfectly happy to report self-collisions even if there are no static obstacles or incoming collision map broadcasts. -Gil -- E. Gil Jones (gjones@willowgarage.com) Research Engineer Willow Garage, Inc. 68 Willow Road Menlo Park, CA 94025 650.475.9772 On Thu, Jul 22, 2010 at 2:07 PM, David Lu!! wrote: > Hey ros-users, > Is there a way to do planning/collision detection without lasers? The > current tutorials for motion_planning_environment seem to require a > PR2/Laser data. I just want to know whether the robot is hitting itself. > > Thanks in advance, > -David!! > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >