Advait, Given the current APIs it's not possible. I was considering modifying the collision space API to produce this information, and I'll probably get around to it reasonably soon but it's not a high priority. Note that you shouldn't trust the current markers to give you all the links that are in collision - it will really only give you the first link it found that's in collision. If you a file a feature request ticket I'll modify the ticket when it's ready to go. And we would of course welcome a patch if you decide to do it yourself. --Gil -- E. Gil Jones (gjones@willowgarage.com) Research Engineer Willow Garage, Inc. 68 Willow Road Menlo Park, CA 94025 650.475.9772 On Thu, Jan 20, 2011 at 5:37 PM, Advait Jain wrote: > I am interested in getting the locations of all the contacts between > the arm (in its current configuration) and the environment. > > The environment_server node of the planning_environment package almost > does the job but it publishes each contact point as a separate Marker. > > It would be really helpful for me if there were a way to get the > entire collision state in one shot. Is this a possibility? > > Thanks again, > Advait > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >