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RethinkRobotics / baxter

Baxter Research Robot SDK
www.rethinkrobotics.com/sdk
BSD 3-Clause "New" or "Revised" License
71 stars 64 forks source link

Add ability to disable arm-arm collision #150

Closed fatmaf closed 10 years ago

fatmaf commented 10 years ago

I would like to have the ability to disable arm-arm collision.

rethink-kmaroney commented 10 years ago

Hi Fatma,

This has been addressed in the upcoming 0.7.0 release.

Available with releases <= 0.6.2 is the ability to disable torso collision avoidance. https://github.com/RethinkRobotics/sdk-docs/wiki/API-Reference#collision-avoidance

$ rostopic pub -r 10 /robot/limb/right/CollisionAvoidance/suppress_body_avoidance std_msgs/Empty

Available with releases >= 0.7.0 is the ability to disable all collision avoidance.

$ rostopic pub -r 10 /robot/limb/right/suppress_collision_avoidance std_msgs/Empty

Please read the warning in the above documentation! This feature was designed to keep your robot safe from damage. Use with caution.

Kyle