planning scene collision distance

asked 2013-10-16 07:29:14 -0600

Robotnik
71 ●4 ●5 ●7

updated 2013-10-16 07:30:04 -0600

Hi,

I am using Groovy with Ubuntu 12.04.

I am trying to call the planning_planning_scene::PlanningScene::distanceToCollision functions, but the returned value is always a constant huge number. The call to selfCollisionCheck does work perfectly.

... // Collision check

robot_state::RobotState& current_state = planning_scene_ptr_->getCurrentStateNonConst(); current_state = *kinematic_state_; collision_detection::CollisionRequest collision_request; collision_detection::CollisionResult collision_result; collision_request.group_name = "arm_tcp";
collision_result.clear(); planning_scene_ptr_->checkSelfCollision(collision_request, collision_result, current_state); if (collision_result.collision) ROS_ERROR("Robot in SELF-COLLISION");

double distance_to_collision = planning_scene_ptr_->distanceToCollision( current_state);

...

a working example measuring the distance to the nearest collision would be much appreciated.

Thanks and best regards,

Roberto

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// Collision check robot_state::RobotState& current_state = planning_scene_ptr_->getCurrentStateNonConst(); current_state = *kinematic_state_; collision_detection::CollisionRequest collision_request; collision_detection::CollisionResult collision_result; collision_request.group_name = "arm_tcp"; collision_request.distance = true; collision_result.clear(); planning_scene_ptr_->checkSelfCollision(collision_request, collision_result, current_state); if (collision_result.collision) ROS_ERROR("Robot in SELF-COLLISION"); ROS_INFO("Collision result %5.10f", collision_result.distance);

planning scene collision distance

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planning scene collision distance