Hi David,<br><br>The planning environment will be perfectly happy to report self-collisions even if there are no static obstacles or incoming collision map broadcasts.<br><br>-Gil<br><br>--<br>E. Gil Jones (<a href="mailto:gjones@willowgarage.com" target="_blank">gjones@willowgarage.com</a>)<br>
Research Engineer<br>Willow Garage, Inc.<br>68 Willow Road<br>Menlo Park, CA 94025<br>650.475.9772<br>
<br><br><div class="gmail_quote">On Thu, Jul 22, 2010 at 2:07 PM, David Lu!! <span dir="ltr">&lt;<a href="mailto:davidlu@wustl.edu">davidlu@wustl.edu</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
Hey ros-users,<div>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. </div>


<div><br></div><div>Thanks in advance, </div><div>-David!!</div>
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