David,<br><br>Apparently ODE, which is the collision checking algorithm we employ, does not support cylinder to cylinder collisions - you can see what kind of collisions will be detected on this page:<br><br><a href="http://opende.sourceforge.net/wiki/index.php/Manual_%28Collision_Detection%29">http://opende.sourceforge.net/wiki/index.php/Manual_%28Collision_Detection%29</a><br>
<br>Changing one or both pipes to be boxes should mean that collisions between the objects will be detected - that level of intersection should result in detected collisions. <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 Mon, Aug 9, 2010 at 4:30 PM, David Lu!! <span dir="ltr"><<a href="mailto:davidvlu@gmail.com">davidvlu@gmail.com</a>></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;">
Also, in the screenshot attached to the ticket, the cylinders in the middle do not collide with meshes at all (according to the algorithm). (I confirmed this by only checking collisions between the cylinders and the meshes)<div>
<br></div><div>Do the colliding surfaces have to be closer to each other to be considered collisions? </div><div><br></div><div>Thanks,</div><div>David!!<div><div></div><div class="h5"><br><br><div class="gmail_quote">On Mon, Aug 9, 2010 at 3:26 PM, David Lu!! <span dir="ltr"><<a href="mailto:davidvlu@gmail.com" target="_blank">davidvlu@gmail.com</a>></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;">After narrowing down my model, I've found at least one bug that was causing me problems. <div>
<a href="https://code.ros.org/trac/wg-ros-pkg/ticket/4629" target="_blank">https://code.ros.org/trac/wg-ros-pkg/ticket/4629</a></div>
<div><br>
</div><div><a href="https://code.ros.org/trac/wg-ros-pkg/ticket/4629" target="_blank"></a>Short Version: Collision detection ignores the scale of meshes<div><div></div><div><br><br><div class="gmail_quote">On Fri, Aug 6, 2010 at 1:52 PM, Sachin Chitta <span dir="ltr"><<a href="mailto:sachinc@willowgarage.com" target="_blank">sachinc@willowgarage.com</a>></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;"><div>On Fri, Aug 6, 2010 at 1:26 PM, David Lu!! <<a href="mailto:davidvlu@gmail.com" target="_blank">davidvlu@gmail.com</a>> wrote:<br>
>> (1) This is difficult to debug without more information. One thing you<br>
>> could do is display the pose of the robot corresponding to the last<br>
>> collision in rviz. This tutorial -<br>
>> <a href="http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20B" target="_blank">http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20B</a><br>
>> - helps you do that.<br>
>><br>
> I've been running off<br>
> of <a href="http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20A" target="_blank">http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20A</a>,<br>
> except with my own robot and no laser data, so I know exactly what pose the<br>
> collisions are happening in.<br>
<br>
</div>True, but the pose that the planning_environment is checking<br>
collisions for might not represent the one you are sending in. Doing<br>
this will show you where the collision environment thinks the robot is<br>
- if there's a potential bug here we might catch it this way.<br>
<br>
Can you send me a snapshot in rviz with collision display enabled. It<br>
looks like (from the marker message), PIECE1 is colliding with PIECE2<br>
in BASE_FRAME. Where is BASE_FRAME defined with respect to PIECE1 and<br>
PIECE2 - maybe send me a urdf as well?<br>
<font color="#888888"><br>
Sachin<br>
</font><div><br>
<br>
<br>
<br>
<br>
><br>
>><br>
>> (2) Also, using the rviz "select" button, you can click on the markers<br>
>> and they will give you more information on what is colliding.<br>
>><br>
> Good to know.<br>
><br>
>><br>
>> (3) Are you moving the base of the robot around? We are working<br>
>> towards a release that handles motion of the robot base properly - the<br>
>> current collision environment is not yet fully tested for motion of<br>
>> the base.<br>
>><br>
> No. I'm only running GetStateValidity with one static pose.<br>
</div><div><div></div><div>> _______________________________________________<br>
> ros-users mailing list<br>
> <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
><br>
><br>
<br>
<br>
<br>
--<br>
Sachin Chitta<br>
Research Scientist<br>
Willow Garage<br>
_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
</div></div></blockquote></div><br></div></div></div>
</blockquote></div><br></div></div></div>
<br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br>