David, Apparently ODE, which is the collision checking algorithm we employ, does not support cylinder to cylinder collisions - you can see what kind of collisions will be detected on this page: http://opende.sourceforge.net/wiki/index.php/Manual_%28Collision_Detection%29 Changing one or both pipes to be boxes should mean that collisions between the objects will be detected - that level of intersection should result in detected collisions. -Gil -- E. Gil Jones (gjones@willowgarage.com) Research Engineer Willow Garage, Inc. 68 Willow Road Menlo Park, CA 94025 650.475.9772 On Mon, Aug 9, 2010 at 4:30 PM, David Lu!! wrote: > Also, in the screenshot attached to the ticket, the cylinders in the middle > do not collide with meshes at all (according to the algorithm). (I confirmed > this by only checking collisions between the cylinders and the meshes) > > Do the colliding surfaces have to be closer to each other to be considered > collisions? > > Thanks, > David!! > > > On Mon, Aug 9, 2010 at 3:26 PM, David Lu!! wrote: > >> 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 >> >> Short Version: >> Collision detection ignores the scale of meshes >> >> >> On Fri, Aug 6, 2010 at 1:52 PM, Sachin Chitta wrote: >> >>> On Fri, Aug 6, 2010 at 1:26 PM, David Lu!! 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. >>> > _______________________________________________ >>> > ros-users mailing list >>> > ros-users@code.ros.org >>> > https://code.ros.org/mailman/listinfo/ros-users >>> > >>> > >>> >>> >>> >>> -- >>> Sachin Chitta >>> Research Scientist >>> Willow Garage >>> _______________________________________________ >>> 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 > >