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Remove Collisions from object

asked 2020-02-01 15:03:49 -0600

H gravatar image

Hi,

I am currently working on a project where a vehicle has to go to a set number of way points. I wanted to add a visual feature so that users could see where the current way point is in gazebo.

My solution to this was to spawn a cylinder with small length and changes its position whenever the vehicle begins to head to a new waypoint. The problem I am facing is that whenever the vehicle touches the cylinder it moves. I have looked online and learned that i can use the collide_without_contact tag to eliminate this, however, when I do this my object disappears.

Would anyone know how to eliminate the collisions on a particular object?

<?xml version="1.0"?>
<sdf version="1.6">
    <model name="marker">
        <static>false</static>
        <link name="marker">


            <collision name='collision'>
                <geometry>
                    <cylinder>
                        <radius>1</radius>
                        <length>0.001</length>
                    </cylinder>
                </geometry>

                <surface>
                     <contact>
                         <collide_without_contact>true</collide_without_contact>
                     </contact>
                 </surface>

      </collision>


        <visual name="marker">
            <pose>0 0 0.001 0 0 0</pose>
            <geometry>
                <cylinder>
                    <radius>1</radius>
                    <length>0.001</length>
                    </cylinder>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Green</name>
                    </script>
                </material>
            </visual>

        </link>
        </model>
    </sdf>
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1 Answer

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answered 2020-02-19 05:38:37 -0600

Mansan gravatar image

updated 2020-02-20 20:44:21 -0600

chapulina gravatar image

Just remove the "collision" part:

<?xml version="1.0"?>
<sdf version="1.6">
<model name="marker">
    <static>false</static>
    <link name="marker">

    <visual name="marker">
        <pose>0 0 0.001 0 0 0</pose>
        <geometry>
            <cylinder>
                <radius>1</radius>
                <length>0.001</length>
                </cylinder>
            </geometry>
            <material>
                <script>
                    <uri>file://media/materials/scripts/gazebo.material</uri>
                    <name>Gazebo/Green</name>
                </script>
            </material>
        </visual>

    </link>
    </model>
</sdf>
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Asked: 2020-02-01 15:03:49 -0600

Seen: 46 times

Last updated: Feb 20