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Questions tagged [collision-detection]

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Collision Monitor in Nav2 Not Working Properly: Polygons Not Displayed or Followed Correctly in RViz2

I am trying to reproduce this tutorial (binaries-source installation ubuntu 22.04): demo-execution collision monitor nav121 I'm experiencing a strange issue with the collision_monitor node in the ...
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Collision Avoidance ROS 3Laws Robotics Supervisor

Has anyone else tried a collision avoidance ROS from 3Laws Robotics? From my understanding, their software, Supervisor, can avoid collisions in 3D much better than it's counter parts that mostly do 2D ...
Madelyn's user avatar
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Collision Checking using Moveit (python wrapper) for a set of Joint Positions

I have a set of robot joint positions which I found by sweeping through the allowed joint positions with a fixed delta. This gives me about a set of ~2 million joint positions. Now, I want to check ...
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Collision checking from joint state

I'm trying to check collision from a specific joint configuration. I followed the Planning Scene ROS API tutorial to add a collision box and Planning scene to check for robot collisions. With my code ...
Will's user avatar
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Nav2 Collision Monitor: how to recover after stop

I use the Nav2 Collision Monitor as a kind of a (high level) security for my robot. But after a stop the only way I found out is to send velocity commands direct to the robot. So my question is there ...
MichaelT's user avatar
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Is collision checking easier when using primitves vs equivalent stls (moveit)

I am wondering whether collision checking using primitive shapes (defined in the URDF) is faster than using equivalent .STL or .obj geometries. With equivalent i mean creating cylinders, spheres and ...
MIKE PAPADAKIS's user avatar
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Collision checking failed

Hi I am using ROS Kinetic with Ubuntu 16.04. I tried the moveit tutorials given here with my own 7 dof manipulator. After getting the collision object in the environment, I tried some random pose ...
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1 answer
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dynamicEDTOctomap.h: No such file or directory

I installed dynamicedt3d library using sudo apt-get install ros-indigo-dynamicedt3d Included in my CMakeLists as: set(DYNAMICEDT3D_LIBRARIES "/opt/ros/indigo/lib/libdynamicedt3d.so") ...
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Is there any reactive proximity collision checker package available?

Yes, Recently I have been developing my own motion planning system using ROS stack, but I want to add a collision checker as my safety controller just to make double sure that the navigation is truly ...
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1 answer
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Attached object collides with environment

Hi! I added an object into the world and attached it to the robot as described in this moveit-tutorial. As in the tutorial stated I attached the object with this piece of code: ...
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3 answers
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Collision detection in Python

Hello everyone! I would like to ask a simple question. How can we detect collisions in Python? (as simple as possible) My goal is as follows: Want to check a state validity and a trajectory validity ...
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1 answer
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Which parameter I should use to check for collision detection

Hi, I am using the fcl library to detect collisions between two objects I used the following code: ...
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Collision detection using fcl and ros wiki for octree and regular object

I have two objects. The first object is my robot which I want to represent it as a shpare and the second object is the obstacle that has unkonwn shape. I want to represent the shape of the obstacle ...
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1 answer
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local map subtraction for moving object detection

Hi all, I am new in ROS and I am going to do a subtraction between a current laser measurement map at time t and time t-1 for moving object detection. the procedure is as follow: Convert laser ...
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1 answer
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Distance to collision normal in MoveIt!

Hello, When checking for collision in MoveIt! using CollisionResult, one can get the distance to the nearest collision. Is it possible to also have the normal vector along that distance? Basically, I'...
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2 answers
27 views

Questions about Moveit collision detection

Hi everyone, I am doing research about safety issue about human and robot cooperation. I am really interested in using collision detection functionality provided by moveit. As far as I know, I can get ...
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2 answers
7 views

Detect collision Stage

hi, I'm trying to simulate two differential drive robots walking in a corridor (the map is provided as png and yaml files, and I cannot change it) using stage. Since one of the robots uses a ...
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1 answer
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rviz collision detection (fuerte)

I'm trying to enable collision detection in RVIZ (debian/AMD64). I built a xacro description of my robot, using basic collision tags. Example: ...
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1 answer
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contacs in gazebo, how can i get information?

Hello, i'm working with the shadow_hand and i need to report to rosserial when a collision is ocurs, i read the bumper topic of the shadow_hand and i got this when it collides: ...
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can we get the penetration depth with CollisionModels?

i find this method in planning_environment::CollisionModels ...
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