[ros-users] Collision detection

Tue May 18 00:59:44 UTC 2010

Hi Akhil,

This is actually something we've just started to seriously think about.  At
this point we don't do any continuous collision detection in our primary
collision checking implementations, though Bullet supposedly can do it.
We've mostly been using ODE.  But you are right that a lot of the work in
collision checking doesn't really address the needs of the robotics
community.  We're currently starting some collaboration with a goal of
optimizing for several criteria that are important for our work here.  One,
we have large point clouds coming from our lasers and stereo pairs at high
rates that we need to check collisions against; most of the existing
collision checkers are not necessarily optimized for this, as the graphics
community generally have meshes.  We do have meshes for some things and also
need that functionality.  Second, our robots currently don't have GPUs but
they do have a number of CPU cores which can potentially be utilized, so we
are interested in speedups through parallelism; we will likely explore GPU
implementations at some point in the future.  Third, we want to be able to
do proximity queries and not just binary collision/not collision queries.
Finally, for some things we do need continuous collision detection, and an
efficient implementation would be useful.  To our knowledge no existing
library fits our needs perfectly, and thus we are in the process of figuring
out a short path to a library that will hopefully fill both our and the
community's needs.  And we will do a good deal of testing on the robots to
show robustness.

If you or others have input on the kinds of features you want in a collision
checking library we'd be very interested.  And as any new libraries become
available we'll certainly make folks aware.

-Gil

E. Gil Jones (gjones at willowgarage.com)
Research Engineer
Willow Garage, Inc.
68 Willow Road
Menlo Park, CA 94025
650.475.9772

On Mon, May 17, 2010 at 5:26 PM, Madhani, Akhil J <
Akhil.J.Madhani at disney.com> wrote:

> I am wondering if there a consensus regarding continuous collision
> detection algorithms/libraries amongst the ROS community?  Bullet,
> ODE..?  What other libraries have been reviewed (e.g. Swift++)
>
> Since these has been developed for gaming/CG, robot folks have to ask
> about robustness: Are there any benchmarks for reliability?
>
> Thanks,
> Akhil
>
>
> -----Original Message-----
> From: ros-users-bounces at code.ros.org
> [mailto:ros-users-bounces at code.ros.org] On Behalf Of
> ros-users-request at code.ros.org
> Sent: Monday, May 17, 2010 12:00 PM
> To: ros-users at code.ros.org
> Subject: ros-users Digest, Vol 3, Issue 91
>
> Send ros-users mailing list submissions to
>        ros-users at code.ros.org
>
> To subscribe or unsubscribe via the World Wide Web, visit
>        https://code.ros.org/mailman/listinfo/ros-users
> or, via email, send a message with subject or body 'help' to
>        ros-users-request at code.ros.org
>
> You can reach the person managing the list at
>        ros-users-owner at code.ros.org
>
> When replying, please edit your Subject line so it is more specific
> than "Re: Contents of ros-users digest..."
>
>
> Today's Topics:
>
>   1. Re: Installation build failure: incompatible boost        library
>      (Jack O'Quin)
>   2. EKF Error (sam weiss)
>
>
> ----------------------------------------------------------------------
>
> Message: 1
> Date: Mon, 17 May 2010 13:39:41 -0500
> From: "Jack O'Quin" <jack.oquin at gmail.com>
> Subject: Re: [ros-users] Installation build failure: incompatible
>        boost   library
> To: ros-users at code.ros.org
> Message-ID:
>        <AANLkTil60Ll3RSzgkmQYOURtVIJX3rl2mneSb7dTtf1T at mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> On Mon, May 17, 2010 at 11:20 AM, Brian Gerkey <gerkey at willowgarage.com>
> wrote:
> > On Sat, May 15, 2010 at 11:08 AM, Jack O'Quin <jack.oquin at gmail.com>
> wrote:
> >> Will the next Box Turtle update have explicit support for Lucid?
> >
> > hi Jack,
> >
> > We're working on it. ?Most of the patches are in, but we still need to
> > bring up a Lucid box for testing (most of us are still running Jaunty
> > or Karmic).
>
> That's what I figured. Thanks for the update.
>
> Meanwhile, several people have reported success installing the Karmic
> binary packages on Lucid. That's probably what they should do until an
> official Lucid package repository is available.
> --
>  joq
>
>
> ------------------------------
>
> Message: 2
> Date: Mon, 17 May 2010 14:48:59 -0400
> From: sam weiss <siw22 at cornell.edu>
> Subject: [ros-users] EKF Error
> To: ros-users at code.ros.org
> Message-ID:
>        <AANLkTim9jgZCPSnwnqiznB4jhVsW7lij88_pcCmQAuXY at mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> We are currently trying to run the ros ekf package with two input
> sources,
> odom motor data, and gps data. The gps data is remapped to the visual
> odometry message. We are receiving this error when running the EKF:
> [ERROR] 1274121205.429497000: filter time older than vo message buffer
>
> What is the cause of this error?
> -------------- next part --------------
> An HTML attachment was scrubbed...
> URL: /discuss/ros-users/attachments/20100517/46cb028b/attachment.html
>
> ------------------------------
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
> End of ros-users Digest, Vol 3, Issue 91
> ****************************************
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20100517/230b3aa5/attachment-0003.html>