How to turn off all collisions?

asked 2017-09-09 21:15:10 -0500

Pi Robot
7 ●5 ●6 ●7

I am using Gazebo 2.2.3 under ROS Indigo. I am wondering how I can turn off collision on all models (or even one at a time) without turning off the physics. I need the sensor data from the physics but I also want the models to pass through each other if they come into contact.

Thanks! patrick

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answered 2017-09-10 12:23:23 -0500

chapulina
7504 ●2 ●23 ●54 https://louise.world/

updated 2017-09-10 12:24:19 -0500

You can try using the <collide_without_contact> tag. Here's a nice example world.

You could also look at collide bitmasks, in case you still want some models to collide with each other.

(by the way, Gazebo 2 is not supported anymore, it's recommended you move to Gazebo 7)

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Thanks! That did the trick. And yeah, I've run Gazebo 7 on some of my Ubuntu 14.04 machines and ROS Indigo but 2.2.3 is running fine for what I need right now.