ros2 collision/contact detection node?
Anyone know of an off-the-shelf ros2 node that reads the URDF file and uses the collision models in there to determine points of contact between itself and the ground or environment? I have a multi-legged robot and I have been computing my own simplistic detection but not even using the collision models.
If not a ros2 node, any opinions on some good libraries out there that can do efficient mesh model collision detection? Perhaps FCL (Fast Collision Library). Since this is for legged walkers I don't think MoveIt! fits here but perhaps I am wrong.
I've had my head down in my own ros2 code, so I am not up to speed on what might work off-the-shelf. I appreciate any insight!
a couple points of clarification - do you want collision in simulation? on hardware? is the ground always flat or is there terrain?
For hardware, not simulation, and though I am assuming the ground is flat for now I would like to have some terrain awareness later where a simplified terrain surface mesh would be available. Thanks!