Questions tagged [collision]

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Collision Monitor in Nav2 not work

I am new to using Collision Monitor in Nav2 package. I am wondering how to make it worked because I can launch the default launch file and my yaml file is as the following ...
Peera Tienthong's user avatar
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Collision Detector not available in ROS2 Humble

The capabilities of collision detector are available only ROS2 Iron Irwini onwards. Was wondering if ROS2 humble would ever get it? Also curious why is it not supported for ROS2 Humble, if there's any ...
Bhooshan Deshpande's user avatar
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Inflation layer costs: Polygonal vs. Circular Footprints

Does the inflation layer calculate Inflation cost in global costmap differently within the inflation radius when initialized with a polygonal footprint versus a circular footprint? Exclude the local ...
Ravi Kumar's user avatar
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Hope to disable collision between Robot model and object model While the Lidar could still detect the Object in Gazebo

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 ...
Ruiji Liu's user avatar
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ros2 nav2 waypoint error - foxy

I'm using Nav2 on ROS2 foxy. After mapping, whever I set goal_pose nav2 makes correct waypoint. But near the corner, the waypoint is suddenly changed too close to move. So that every time the robot ...
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How to avoid collision of 2 robot arms in real world (padding between robots)? ROS2/Moveit2

I recently submitted a question regarding how to apply padding to a robot arm in general using ROS2/MoveIt2 and learned that one can define a 'default_robot_padding' parameter within the '...
manadaniel's user avatar
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How to add padding to a robot using ROS2/MoveIt2?

I am trying to find a way to add padding to the robot to avoid unwanted collisions caused by low control precision. Optimally I could either set a uniform padding of e.g. 5 cm or - even better - ...
manadaniel's user avatar
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An error occured in MOVEIT: ABORTED: START_STATE_IN_COLLISION

Recently I'm using Baxter Robot for a project. I ran the following ROS command: roslaunch baxter_moveit_config demo_baxter.launch and it took me a long time and I ...
Hsin-Yung Ho's user avatar
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Use collision for labeling pointcloud

Hello, I simulate a box with objects and gather pointcloud data with an realsense D435. Now I try to label my data so that i know whether a point is at a object or not. I spawn a point/sphere and ...
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Removing collisions from a link using parameter passing

I am trying to load some static models into a world. I would like them to not cause any collisions, so I am trying to remove them using the tutorial here: http://sdformat.org/tutorials?tut=...
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Is there any collision related topic in ign gazebo?

Hello everyone, I wanna test some collision properties and I have found the contact topic in classical gazebo as below: but I didn't find any similar topic in ign gazebo, does anyone have some ...
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Collision between gripper flange and robot flange detected

Hi! At the moment I am trying to attach a gripper to my FANUC robot. The gripper appears in the visualization at the correct place but the moveit motion planning did not work anymore. I am thinking ...
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How do you edit the collison like this?

Here is the picture: I edited the code many time: ...
Garrett Fogerlie's user avatar
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MoveIt create PlanningSceneInterface

I am trying to retrieve a collision object that is present in the moveit planning scene to then attach it to a robot link. To do this, I thought of getting the object by its ID using the getObjects ...
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Collision detection on table

Hello, I build on solidwork a simple model of table, then I convert it onto dae to insert into gazebo. I want to known if I can add this dae file directly on gazebo or should I add my table piece by ...
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What could cause a decrease in Real Time Factor to 0.07

Currently, I have a simulation of a heavy machine and I import its stl model as a collision. I basically have a joint on top of a car, that, when lifting up above ...
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2 answers
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Multi-Robot MoveIt collision management

I'm trying to simulate a multi robot system with 2 UR3. So far I've managed to launch the simulation with both robotic arms and start a single instance of rviz with MoveIt for each robot. At this ...
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Do multiple convex collision instances in URDF increase performance?

The documentation of the URDF says: " Note: multiple instances of tags can exist for the same link. The union of the geometry they define forms the collision representation of the link." I ...
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Generating "legal" keyframes for moving actor

Hello Gazebo wizards! I need some help with a gazebo plugin that generates random walk paths for a moving actor. How can I check if the generated path collides with objects in the world? It does not ...
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stl mesh does not become visible in Rviz

With the code below I try to get a collision object into Rviz. For some reason the stl mesh is not showing in the 3D viewer. However the object I am trying to insert is based on the exact same stl ...
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moveit pick failed with controller running

I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7. My repository is at https://github.com/yiyinglai/FetchIt. I was doing ...
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Is it possible to get a list of all the current collision objects using the MoveIt API?

Hi, I would like to get a list of all the collision object currently in the planning scene using the C++ MoveIt API. My main goal is to be able to clear all collision objects in the environment. My ...
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moveit pick contact between object and robot attached object

Hi, I'm trying to implement the moveit pick and place tutorial with eDO robotic arm. The execution of the pick is ok until the retreat phase that doesn't happen. At this point it complains about the ...
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my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo. My problem is about collision. I have put on tag in my urdf-file ( a hand model ), but the little finger still can run into ...
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Display in RViz the collision geometry tag of an URDF link

Is it possible to display in RViz the collision geometry tag (box, sphere, cylinder etc.) of an URDF link tag? Originally posted by andrestoga on ROS Answers with karma: 188 on 2019-07-31 Post score: ...
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How to use CollisionDetectorAllValid for planning?

I am attempting to plan movements with Moveit in ROS Melodic. Temporarily I would like to disable collisions and have found an implementation of the collision detector built-in to Moveit that achieves ...
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How does MoveIt! CollisionPlugin interact with Moveit?

I'd like to write a plugin for collision detection for Moveit, and I've checked out their page here: https://moveit.ros.org/documentation/plugins/#collisionplugin However, it's not clear to me how the ...
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UR5 robot breaks after small collision

Hi, I am working with the simulated UR5 with a gripper, and I am trying to simulate the collision between the gripper and some object (for now just a wooden box). The problem is that whenever the ...
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1 answer
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Get collision state of model without contact sensor

Hello everyone. I am wondering if it is possible to check the collision state of a urdf-model in Gazebo without contact sensor. For example, can I implement a world plugin where show which 'model:link'...
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compute_cartesian_path obstacle avoidance?

Hello ROS Community! I have the following scenario in gazebo: robotic arm + wall + obstacle (see the figure) Based on (simulated) kinect sensor data i am able to detect the obstacle and determine the ...
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2 answers
19 views

Mesh optimization for "fast" simulation

Hi, i created a robot model with some links. All links are meshes, like the UR10 from Universal Robotics has its shoulder_link, elbow_link and so on. For example the simulation for the UR-10 uses the ...
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"Fake" collision that can be detected by RaySensor but doesnt collide with other models?

Hi, I'm trying to implement some kind of particle system to generate sensor data that look like the sensor is in a smoky or fogy environment. So i implemented a plugin to spawn one model with 3000 ...
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Is it possible to set parameters like inertial, collisions in launch not in urdf?

Hi, I'm working on a robot. I didn't set parameters inertial and collisions in my URDF. Is it possible to set these params in launch file? How? I know that I can change the URDF file, but it is ...
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Is the MultiRayShape Class working properly?

I am gettting the following error when trying to compile my code: error: ‘class gazebo::physics::MultiRayShape’ has no member named ‘Ray’ I am trying to detect which object a laser ray is hitting by ...
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robot slips after upgrade to kinetic

Dear all, After upgrading from Ubuntu 14.04 to 16.04 and from Indigo to Kinetic I'm experiencing a weird behavior from Gazebo and the HyQ robot model. The complete robot model can be found here. I ...
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2 answers
7 views

Collision detection using point clouds

Hi all, I'm presently using dynamic edt3d library to compute the closest obstacle to a point. If this distance is greater than a certain clearance, I say that the point is collision free for the robot....
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1 answer
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moveit planning collision avoidance

Hello there, I am trying to create a ROS based application in which i use a Joystick to control the robot, then save the robot state and later create plans from those saved positions. However i am ...
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Robot moves through ground plane

Hi, I have two ground planes in my simulation, one with 0 rpy and the other pitching by 30 degrees. The aim is to have a robot move along the flat plain and then move along the pitched plane. The ...
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1 answer
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Adding Collision Objects

Hello, I am trying to add collision objects to the planning scene interface. However, the moveit planning seems to ignore the collision objects. I am passing a list of boxes as collision objects. Here ...
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1 answer
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MoveIt! Adding Collision Objects

Hey guys, im trying to add some simple collision objects in Python to my planning scene in RViz to plan some trajectories with my UR5 Robot. I tried something like ...
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1 answer
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Why does a robot model push away objects whenever it touches them?

I am simulating a robotic manipulator from urdf files. The robot is supposed to interact with objects in its environment, but whenever any part of the robot touches an object, the object is pushed ...
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Make object stick to Robot

I have a robot that has a platform to transport objects. However, if I place a model on top of that platform and move the robot, the object will stay in its place and eventually fall to the floor. ...
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1 answer
7 views

Gazebo ROS Collision Detection

Hello all, I am trying to get a topic with the collision by using the gazebo-ros-bumper plugin, but all of the resources I have found online have not worked for me. Here is my xacro code for the robot ...
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Does Rviz have collision detection like gazebo?

I am wondering if rviz has a collision detection system similar to gazebo implemented. I see that there is an option to enable collision, but I have not found and information online about what it does ...
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Spawning a robot arm with desired joint angles

I am trying to spawn a Kinova Mico arm in a gazebo simulation and Rviz. It spawns with all the joints at a value of 0. This means that they spawn in collision state, shown below. Both in rviz and they ...
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why do we need the sdf element "collide with contact"?

Why do we need 'collide_without_contact' since this violates the physics laws? Any specific use cases? Originally posted by winston on Gazebo Answers with karma: 449 on 2016-05-12 Post score: 1
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Explain Gazebo friction coefficients <mu> and <mu2>?

I'm having a tough time grasping the difference between "mu" and "mu2". The friction tutorial says that: "mu" is the Coulomb friction coefficient for the first friction ...
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How to set collision for octomap in moveit?

I input octomap to moveit first of run this command. rosrun octomap_server octomap_server_node cloud_in:=rtabmap/cloud_map And move goal quadrotor when fixed ...
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Best way to use Moveit for teleoperation?

I've seen this topic discussed a bit here, and on the MoveIt! mailing list here and here, but those conversations are pretty old now and I'm wondering if there is a clearer answer now. I have a 7 DOF ...
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Some contacts not detected

Hello, I use a ModelPlugin to check collisions between my robot and some cubes around. I use the ContactManger of the world attached to the model of the robot. This works most of the time, but I ...
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