[fetch_moveit_config] fix fetch.srdf to avoid self collision and warnings - Githubissues

ZebraDevs / fetch_ros

Open ROS Components for Robots from Fetch Robotics

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[fetch_moveit_config] fix fetch.srdf to avoid self collision and warnings #162

Open knorth55 opened 1 year ago

knorth55 commented 1 year ago

This PR adds possible collision check and ignore warning.

Add possible collision check

base_link and upperarm_roll_link can collide, but ignored in current melodic-devel.
- check collision between base_link and upperarm_roll_link
e-stop and r_gripper_finger_link can collide, but ignored in melodic-devel
- check collision between E-stop and gripper

Ignore warning

disable caster and base_link collision