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ZebraDevs / fetch_ros

Open ROS Components for Robots from Fetch Robotics
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use collision object mesh in fetch_teleop to avoid collision #131

Closed knorth55 closed 4 years ago

knorth55 commented 4 years ago

related to #129 I change to use mesh models to avoid collision between robot, keepout and ground. we tested on indigo robot. fetch_tuck_arm_moveit_real_robot fetch_tuck_arm_moveit

knorth55 commented 4 years ago

I found out that below link is considered as collision with ground when Fetch's torso is up high. I will change the collision object shape to avoid this invalid collision.

knorth55 commented 4 years ago

I updated to use mesh collision model for tuck arm script. ground: ground

keepout: keepout

knorth55 commented 4 years ago

@moriarty I'm so sorry that I made a mistake in #129 , (there was no hole in ground object). Therefore, Fetch could not go back to reset pose when torso is up. I fixed the problem with this PR by adding hole in ground collision object. Could you review and merge this PR?

knorth55 commented 4 years ago

kindly ping. can anyone take a look and give me some review for this PR?

erelson commented 4 years ago

Sorry for the long delay here; A quick look suggests this is all good. Thank you!