search

personalrobotics / ada_ros2

ROS2 Hardware Interface and Description for the ADA Robot
BSD 3-Clause "New" or "Revised" License
2 stars 1 forks source link

Disabled SRDF Collisions to Re-enable MoveIt Servo #24

Closed amalnanavati closed 1 year ago

amalnanavati commented 1 year ago

Description

Given our current configuration, MoveIt Servo starts decelerating if the robot is 2cm from a collision. Because the frontStabilizer is within 2cm of the enclosureTop link and the nano link, the robot thinks it is constantly near collision, so doesn't move. This PR addresses that by disabling the collisions.

Testing

This demonstrates that: (a) disabling those two collisions solves the problem; and (b) both disabled collisions are necessary to allow MoveIt Servo to work.

amalnanavati commented 1 year ago

@egordon @hayabolotski is there a rule I should be following when determining which link is link1 vs. link2? I just pattern-matched.

egordon commented 1 year ago

@amalnanavati No clear rule. I think what MoveIt Setup Assistant by default is to do it based on distance from the robot root (measured in number of links), but it really doesn't matter. And that rule is tricky when the two joints are on different branches.