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Defining collision object accurately in sdf

asked 2018-02-08 00:42:59 -0600

shaihi gravatar image

I'm creating a simple model in Skethcup built of 2 cylinders and a rectangle. Is there a simple way to define the 3 links of the collision objects to tightly couple with the model?

I followed this tutorial: build_model, but it is too simplistic in the example.

More accurately, I've built the model in sketchup and do not know how to extract the cylinders position to be defined as the collision objects since the DAE file contains vertices to defined the geometry.

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answered 2018-02-08 02:56:48 -0600

Brosseau.F gravatar image

I'm not sure that I completely understand your situation.

But if you are importing your cylinders with the mesh tag for your visual, then you can do the same for your collision.

If you load the dae file for your visual but you want a simpler model for your collision then you should use sketchup (I personnally use blender) to find the origin of your cylinder object. You may have to apply a transformation with the pose tag (inside the collision tag).

You can check that your collision model match your visual model using the gazebo gui (view -> collisions).

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Thanks. Do you know if there is a tutorial for the steps you mention? Have not checked it yet...

shaihi gravatar imageshaihi ( 2018-03-20 01:59:31 -0600 )edit

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Asked: 2018-02-08 00:42:59 -0600

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Last updated: Feb 08 '18