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how to perform simple collision detection between models in gazebo

asked 2013-03-02 21:45:31 -0500

mugetsu gravatar image

I am applying force to a rectangular model(created with spawnmodel) that sends it colliding with another much denser model. What is the simplest way to access collision information? I was able to find the package collisionmap for ros, but is there something else existing that I could use?

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answered 2013-03-03 01:34:18 -0500

scpeters gravatar image

You can add a contact sensor to your model (here's a tutorial), which will tell you the number of contact points, their location on the collision body, penetration depth, and reaction force/torque.

With Gazebo 1.4, you can also visualize contact in the gazebo client under the View menu, select Contacts. This will display each contact point as a blue sphere. You may also need to View->Transparent in case the contacts are blocked by visuals.

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Asked: 2013-03-02 21:45:31 -0500

Seen: 3,184 times

Last updated: Mar 03 '13