How to make a link with collision geometry walking through objects?

asked 2019-03-01 10:48:33 -0500

kumpakri gravatar image

I want to detect an obstacle in a certain distance around an actual robot (non-contact obstacle detection) all around the robot. So I thought I could make a link slightly bigger than the robot, put it on the robot, and if there was an obstacle going through this link, the contact sensor would send a message. But then I need this link not to react to the collision with the obstacle, so that the robot himself could. I want it to just go through. How can I do that in Gazebo?

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