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RethinkRobotics / baxter_common

ROS Messages and robot description files for the Baxter Research Robot
www.rethinkrobotics.com/sdk
BSD 3-Clause "New" or "Revised" License
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Enable/fix self-collision for all links #85

Closed davetcoleman closed 7 years ago

davetcoleman commented 7 years ago

This fixes the warning in Gazebo 7:

Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].

Also it enables self-collision checking for most of the links in the robot. You can't naively enable all, however, because on Baxter some links are not connected by joints but are still in constant collision. This causes the robot to appear to seizure, as reported here

davetcoleman commented 7 years ago

Premature PR: collision checking was working but I changed something and it no longer works. See issue

gortium commented 7 years ago

Have you found a fix with selfcollide ? i think i have the same problem. Thanks !

davetcoleman commented 7 years ago

I believe I understand how to fix it, but it would not be easy and require a lot of effort