search

PR2 / robot_self_filter

15 stars 29 forks source link

Support non-convex mesh model #2

Open wkentaro opened 8 years ago

wkentaro commented 8 years ago

I'd like to use self_filter to filter urdf model which is not robot. (so this is not robot_filter but urdf_filter)

And I'm using non-convex model in urdf definition for link. the self_filter in this repo supports only convex model according to https://github.com/PR2/pr2_navigation/blob/hydro-devel/pr2_navigation_self_filter/src/bodies.cpp#L61

Is that possible to support non-convex model?

garaemon commented 8 years ago

FCL? http://wiki.ros.org/fcl