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I am using Gazebo 8. I tryed to add the collision link to my actor that is used in walking_person model sdf file in gazebo database, but it didnt work. Also my terrain is a dae file and I am not sure how the collision for mesh file should be defined. Right now it is defined with box. And if I include the same walking_person model to my world then the collision is right but defining an actor with collision it is not (terrain with box collision). I guess that collision for my mesh file should be defined so that in between geometry tags there is just mesh with its uri? But this is not working also.

<actor name="actor5"> <skin> <filename>walk.dae</filename> <scale>1.0</scale> </skin> <animation name="walking"> <filename>walk.dae</filename> <scale>1.000000</scale> <interpolate_x>true</interpolate_x> </animation> <script> <loop>true</loop> <delay_start>0.000000</delay_start> <auto_start>true</auto_start> <trajectory id="0" type="walking"> <waypoint> <time>1.000000</time> <pose>0 0 8 0.000000 0.000000 -1.47</pose> </waypoint> <waypoint> <time>1.000000</time> <pose>-1 0 8 0.000000 0.000000 -1.47</pose> </waypoint> <waypoint> <time>1.500000</time> <pose>-2 0 8 0.000000 0.000000 -1.47</pose> </waypoint> <waypoint> <time>2.000000</time> <pose>-3 0 8 0.000000 0.000000 -1.47</pose> </waypoint> <waypoint> <time>2.500000</time> <pose>-4 0 8 0.000000 0.000000 -1.47</pose> </waypoint> <waypoint> <time>3.000000</time> <pose>-5 0 8 0.000000 0.000000 -1.47</pose> </waypoint> </trajectory> </script> <link name="link"> <inertial> <pose>0 0 0.95 0 0 0</pose> <mass>80.0</mass> <inertia> <ixx>27.82</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>24.88</iyy> <iyz>0</iyz> <izz>4.57</izz> </inertia> </inertial>

      <collision name="bottom">
    <pose>0 0 8 0 0 0</pose>
    <geometry>
      <box>
        <size>0.35 0.75 0.02</size>
      </box>
    </geometry>
      </collision>

</link>

</actor>

I am using Gazebo 8. I tryed to add the collision link to my actor that is used in walking_person model sdf file in gazebo database, but it didnt work. Also And right now I have a box collision defined for my terrain is a dae file and I am not sure how terrain. If including the collision for mesh file should be defined. Right now it is defined with box. And if I include the same walking_person model to my the world then collision seems to work, person is on the collision box that is right defined for terrain but defining an with actor with collision it is not (terrain with box collision). I guess that collision for my mesh file should be defined so that in between geometry tags there is just mesh with its uri? But this is not working also. not.

<actor name="actor5"> name="actor5">

     <skin>
         <filename>walk.dae</filename>
         <scale>1.0</scale>
      </skin>
       <animation name="walking">
         <filename>walk.dae</filename>
         <scale>1.000000</scale>
         <interpolate_x>true</interpolate_x>
      </animation>
       <script>
         <loop>true</loop>
         <delay_start>0.000000</delay_start>
         <auto_start>true</auto_start>
         <trajectory id="0" type="walking">
            <waypoint>
               <time>1.000000</time>
               <pose>0 0 8 0.000000 0.000000 -1.47</pose>
            </waypoint>
            <waypoint>
               <time>1.000000</time>
               <pose>-1 0 8 0.000000 0.000000 -1.47</pose>
            </waypoint>
            <waypoint>
               <time>1.500000</time>
               <pose>-2 0 8 0.000000 0.000000 -1.47</pose>
            </waypoint>
            <waypoint>
               <time>2.000000</time>
               <pose>-3 0 8 0.000000 0.000000 -1.47</pose>
            </waypoint>
            <waypoint>
               <time>2.500000</time>
               <pose>-4 0 8 0.000000 0.000000 -1.47</pose>
            </waypoint>
            <waypoint>
               <time>3.000000</time>
               <pose>-5 0 8 0.000000 0.000000 -1.47</pose>
            </waypoint>
         </trajectory>
      </script>
    <link name="link">
        <inertial>
     <pose>0 0 0.95 0 0 0</pose>
     <mass>80.0</mass>
     <inertia>
       <ixx>27.82</ixx>
       <ixy>0</ixy>
       <ixz>0</ixz>
       <iyy>24.88</iyy>
       <iyz>0</iyz>
       <izz>4.57</izz>
     </inertia>
          </inertial>
 
</inertial>

      <collision name="bottom">
    <pose>0 0 8 0 0 0</pose>
    <geometry>
      <box>
        <size>0.35 0.75 0.02</size>
      </box>
    </geometry>
      </collision>
 </link>
 
</actor>