Closed corot closed 3 years ago
Contact normal goes from second to first colliding model, so we need to invert it only if the robot is the first This is most of the times the case (that's why it mostly work), but not always, e.g.
Collision between[lack_table_11::link::collision] and [thorp::base_footprint::base_footprint_fixed_joint_lump__base_collision] 0 Position:9.05951 2.63089 0.0163409 Normal:-0.991845 -0.127448 -0 robot_heading:-2.95965 global_contact_angle:-3.0138 relative_contact_angle:-0.0541515 0 1 0 1 Position:9.05951 2.63089 0.0166435 Normal:-0.991845 -0.127448 0 robot_heading:-2.95965 global_contact_angle:-3.0138 relative_contact_angle:-0.0541515 0 1 0 2 Position:9.0595 2.63089 0.0153666 Normal:-0.991845 -0.127448 0 robot_heading:-2.95965 global_contact_angle:-3.0138 relative_contact_angle:-0.0541515 0 1 0
But here robot comes first:
Collision between[thorp::base_footprint::base_footprint_fixed_joint_lump__base_collision] and [turtlebot3_house::Wall_93::Wall_93_Collision] 0 Position:12.225 3.41991 0.0160865 Normal:-1 3.67321e-06 -0 robot_heading:0.0589247 global_contact_angle:-3.67321e-06 relative_contact_angle:-0.0589284 0 1 0 1 Position:12.225 3.41991 0.0160865 Normal:-1 3.67321e-06 -0 robot_heading:0.0589247 global_contact_angle:-3.67321e-06 relative_contact_angle:-0.0589284 0 1 0
Contact normal goes from second to first colliding model, so we need to invert it only if the robot is the first This is most of the times the case (that's why it mostly work), but not always, e.g.
But here robot comes first: