Gil, this seems to be what i am looking for.

Txh for the info!
Josep

Date: Wed, 25 May 2011 15:13:59 -0700
From: gjones@willowgarage.com
To: ros-users@code.ros.org
Subject: Re: [ros-users] robot selfcollision package

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
> <jsprnclrtrbrt@hotmail.com> 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

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