After narrowing down my model, I've found at least one bug that was causing
me problems.
https://code.ros.org/trac/wg-ros-pkg/ticket/4629

 <https://code.ros.org/trac/wg-ros-pkg/ticket/4629>Short Version: Collision
detection ignores the scale of meshes

On Fri, Aug 6, 2010 at 1:52 PM, Sachin Chitta <sachinc@willowgarage.com>wrote:

> On Fri, Aug 6, 2010 at 1:26 PM, David Lu!! <davidvlu@gmail.com> wrote:
> >> (1) This is difficult to debug without more information. One thing you
> >> could do is display the pose of the robot corresponding to the last
> >> collision in rviz. This tutorial -
> >>
> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20B
> >> - helps you do that.
> >>
> > I've been running off
> > of
> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20A
> ,
> > except with my own robot and no laser data, so I know exactly what pose
> the
> > collisions are happening in.
>
> True, but the pose that the planning_environment is checking
> collisions for might not represent the one you are sending in. Doing
> this will show you where the collision environment thinks the robot is
> - if there's a potential bug here we might catch it this way.
>
> Can you send me a snapshot in rviz with collision display enabled. It
> looks like (from the marker message), PIECE1 is colliding with PIECE2
> in BASE_FRAME. Where is BASE_FRAME defined with respect to PIECE1 and
> PIECE2 - maybe send me a urdf as well?
>
> Sachin
>
>
>
>
>
> >
> >>
> >> (2) Also, using the rviz "select" button, you can click on the markers
> >> and they will give you more information on what is colliding.
> >>
> > Good to know.
> >
> >>
> >> (3) Are you moving the base of the robot around? We are working
> >> towards a release that handles motion of the robot base properly - the
> >> current collision environment is not yet fully tested for motion of
> >> the base.
> >>
> > No. I'm only running GetStateValidity with one static pose.
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> >
> >
>
>
>
> --
> Sachin Chitta
> Research Scientist
> Willow Garage
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