visualize URDF with padded/scaled collision - Githubissues

sbgisen / moveit

:robot: The MoveIt motion planning framework

http://moveit.ros.org/

BSD 3-Clause "New" or "Revised" License

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visualize URDF with padded/scaled collision #13

Closed jsupratman13 closed 1 year ago

jsupratman13 commented 1 year ago

Description

resolve #7

To scale/padd the robot's collision you can create a padding.yaml file with the following parameters

default_padding: 0.0
default_robot_scale: 0.5

default_robot_link_padding:
  head_pan_link: 0.02
  head_tilt_link: 0.01

default_robot_link_scale:
  head_pan_link: 1.1
  head_tilt_link: 0.9

Then load the configuration file via rosparam

<group ns="$(arg robot_description)_planning">
  (...)
  <rosparam command="load" file="$(find xxx_moveit_config)/config/paddings.yaml"/>
</group>

Checklist

[ ] Required by CI: Code is auto formatted using clang-format
[ ] Extend the tutorials / documentation reference
[ ] Document API changes relevant to the user in the MIGRATION.md notes
[ ] Create tests, which fail without this PR reference
[ ] Include a screenshot if changing a GUI
[ ] While waiting for someone to review your request, please help review another open pull request to support the maintainers