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how to add collision to walking actor.

asked 2017-07-07 02:42:50 -0500

helenh gravatar image

It is said that link have to be child of model, but actor is not a model. But collision can be defined only in a link. My problem is that if I import walking_person from gazebos database into my world then it has collision, but if I define an actor in my world and add same link with collisions to my actor then it doesnt have collision still. Also i want the collision to be during walking. Any suggestions?

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answered 2017-07-07 09:39:37 -0500

nkoenig gravatar image

The Actor class inherits from Model. You can add links to an <actor> in SDF.. Not sure if that helps you.

What version of Gazebo are you using? Can you also post the world file that you are using?

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I have posted the code now, that can be seen above.

helenh gravatar imagehelenh ( 2017-07-16 08:00:19 -0500 )edit

answered 2017-07-16 05:07:18 -0500

helenh gravatar image

updated 2017-07-16 05:13:50 -0500

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. And right now I have a box collision defined for my terrain. If including the walking_person model to the world then collision seems to work, person is on the collision box that is defined for terrain but with actor its not.

<actor name="actor5">


     <animation name="walking">

        <trajectory id="0" type="walking">
              <pose>0 0 8 0.000000 0.000000 -1.47</pose>
              <pose>-1 0 8 0.000000 0.000000 -1.47</pose>
              <pose>-2 0 8 0.000000 0.000000 -1.47</pose>
              <pose>-3 0 8 0.000000 0.000000 -1.47</pose>
              <pose>-4 0 8 0.000000 0.000000 -1.47</pose>
              <pose>-5 0 8 0.000000 0.000000 -1.47</pose>

  <link name="link">

    <pose>0 0 0.95 0 0 0</pose>

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


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Asked: 2017-07-07 02:42:50 -0500

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Last updated: Jul 16 '17