Closed fmessmer closed 7 years ago
I don't think that you have to print the collisions yourself, the verbose flag should enable it internally.
verbose only prints one collision pair, while with my modifications you could see all...as well as the penetration depth...
@ipa-mdl any objections in keeping my debug info? please merge otherwise...
@ipa-mdl any objections in keeping my debug info?
Yes, it should be a param, which defaults to off. And the state must be published before the debug prints. Otherwise the stop might come too late.
verbose
should default to false as well.
@ipa-mdl I guess I considered your remarks accordingly...
@ipa-mdl
exception is required for simulation as there seems to be a race condition when using
sim_time
from gazebo