Read static collision/contact information

asked 2016-07-25 05:56:47 -0500

nisommer gravatar image

Hi all,

I would like to implement the measurement step of a particle filter to localize an object given tactile information from contact with a robot.

For this, I would need to be able to query contacts for a given object pose for each of my particles (object pose), without running the simulation. Is there a way to access the collision checking of gazebo without running the simulation ? The idea would be to set the object pose, read contacts, set a new object pose, read contacts, etc, without the need for dynamics.

Would it be possible to write a gazebo plugin to do that ? I was thinking to get started from the Programmatic World Control plugin example (world plugin), or a system plugin. However, someone may have a better idea.

Thanks a lot for your help,


First update:

It seems that it is possible to run my "simulation" step by step programatically, using World->RunBlocking(). Also, there is the possibility to disable the physics engine (World->EnablePhysicsEngine(false)) and still have the collision checking. I will update this according to results.

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