jlblancoc
commented
5 months ago Hi!
C++ API
You asked for C++ API, so bear in mind that's useful only if you are using mvsim as a C++ library in your project (or modifying the sources in a fork, etc.). Yes, there is this:
// Simulable.h
/** Whether is is in collision right now. \sa */
bool isInCollision() const { return isInCollision_; }
/** Whether a collision occurred since the last time this flag was manually
* reset.
* \sa isInCollision(), resetCollisionFlag() */
bool hadCollision() const { return hadCollisionFlag_; }
/** Resets the condition reported by hadCollision() to false */
void resetCollisionFlag() { hadCollisionFlag_ = false; }and you can request a mvsim::World for the list of simulable objects at any moment via getListOfSimulableObjects(), then get the robot by name and check its collision flags.
ZMQ-based Python API
Using MVSim's direct Python API, you can use the get_pose() service, just like in this example and in the answer SrvGetPoseAnswer.proto there is a field objectIsInCollision.
Direct ROS message
Right now, nope, there is not! But as you can see from above, it shouldn't be hard to implement.
If there is interest in the feature I could add it. Any ideas on what would be an ideal ROS interface for collisions? A topic per robot, of type std_msgs::Bool or alike?
PS: There is so, so much yet to be documented on this project (!!) :smile:
nocholasrift
Hi there, thank you for sharing this fantastic simulator. I was curious if there was any direct way using the C++ API to determine if, for example, a Jackal crashes into an obstacle in the environment. Or perhaps if there is some way to have a ROS message be published to some topic if such an event occurs.