Prevent collison between some models in the world

asked 2018-02-02 05:38:00 -0500

elcymon gravatar image

I am trying to disable collision among mobile robots in a swarm. The swarm is usually made up of hundreds of robots.

These robots are expected to perform a foraging task within a square boundary in the world. Thus, when they collide with this boundary, they should change their direction of motion.

However, when robots collide with each other, they should pass through each other (as if there was no collision).

I am using the collide_bitmask sdf tag as suggested in the answer for this question: http://answers.gazebosim.org/question....

I realised that for the bitmask to perform task I want, the values of the bitmask should be 1, 2, 4, 8 ... 2^(n-1). Where n is the number of robots I want to include in the world. However, this is restricted to 2^16 value. Thus, I will not be able to implement this for more than 17 robots.

Please is there any idea of how I should do this?

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