[ros-users] Allowing contacts with inverse IK

The Inverse kinematics with constraints awareness allows to specify contacts
between any two objects with the OrderedCollisionOperation messages. I tried
this on the PR2 with the first object being "right_arm" and the second
object one that I added before. However, the IK seems to be politely and
silently ignoring this bit of the message. How can I allow contacts with
known objects? How can I visualize the added objects in RVIZ to debug?

P.S. A similar question is
here<http://answers.ros.org/question/584/allow-gripper-collision-on-the-pr-2>but
the answer is: use a non-collision aware IK!
Lorenzo

--
Lorenzo Riano, PhD
Research Associate
Intelligent Systems Research Centre
University of Ulster
Magee campus
Londonderry
BT48 7JL

phone: +44 (0)28 71375187
email: l.riano@ulster.ac.uk, lorenzo.riano@gmail.com
skype: lorenzo.riano

Webpage: http://isrc.ulster.ac.uk/Staff/LRiano/Contact.html