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Right now I have added this code to the collision element of the Object model sdf file, which allows the robot could go through the object very very slowly. Is there a way to make the robot have no collision with the object while I could still use Lidar to detect the objects in the Gazebo? 0 0 <collide_without_contact>true</collide_without_contact>

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  • $\begingroup$ <surface> <friction> <ode> <mu>0</mu> <mu2>0</mu2> </ode> </friction> <contact> <collide_without_contact>true</collide_without_contact> </contact> </surface> $\endgroup$
    – Ruiji Liu
    Commented Nov 8, 2023 at 22:22
  • $\begingroup$ Welcome at RSE. Please edit, clarify and reformat your question using a code block to have a clear understanding what you have tried. $\endgroup$
    – Christoph Froehlich
    Commented Nov 9, 2023 at 10:18

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If you are on Gazebo Classic (e.g. Gazebo 11), you can try to use collide_without_contact:

  • See here for the spec,
  • See here for an example.

Unfortunately, this seems not implemented yet for 'new Gazebo' (i.e. 'Gazebo Sim', e.g. Gazebo Fortress or Garden or Harmonic).

A possible alternative (both for Gazebo Classic as well as Gazebo Sim) is to use a collision bitmask:

  • See here for documentation

    (It is a Gazebo Classic documentation page, but I think the usage is identical in Gazebo Sim),

  • See the gz-sim GitHub repository for an example demo world.

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