Josep, Check out the willow garage motion_planning_common stack - the package collision_space implements mesh to mesh and mesh to primitive collision checks using ODE. You'll also need to familiarize yourself with the planning_models package in motion_planning_common, which implements forward kinematics given a urdf. Also, http://answers.ros.org/questions/ is a better forum for getting questions answered; check it out. -Gil -- E. Gil Jones (gjones@willowgarage.com) Research Engineer Willow Garage, Inc. 68 Willow Road Menlo Park, CA 94025 650.475.9772 On Wed, May 25, 2011 at 3:04 PM, Josep Arnau Claret Robert < jsprnclrtrbrt@hotmail.com> wrote: > 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 > > > > > > > > > > > > > > -- > > MSc. Dejan Pangercic > > PhD Student/Researcher > > Intelligent Autonomous Systems Group > > Technische Universität München > > Telephone: +49 (89) 289-26908 > > E-Mail: dejan.pangercic@cs.tum.edu > > WWW: http://ias.cs.tum.edu/people/pangercic > > _______________________________________________ > > 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 > >