[ros-users] robot selfcollision package

Gil Jones gjones at willowgarage.com
Wed May 25 22:13:59 UTC 2011


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 at 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 at 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 at gmail.com
> > To: ros-users at 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 at 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 at 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 at cs.tum.edu
> > WWW: http://ias.cs.tum.edu/people/pangercic
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
>
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