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How to make Ray sensor ignore body of the robot?

asked 2020-05-22 12:09:54 -0500

kumpakri gravatar image

updated 2020-05-25 06:43:31 -0500

Is there any way how to define which models should not collide with the laser rays? I need to detect obstacles very close to the robot, but sometimes the robot parts get in way of the sensor and the closest distance is the distance to the robot part instead of the obstacle. I'm not aiming for a realistic simulation of laser sensor with this particular sensor. I just need the distances from the surrounding models to the robot.

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answered 2020-06-01 09:58:12 -0500

ahcorde gravatar image


you can remove from the URDF the collision tag of some parts of your robot. But you would not have collisions with any object in the world.

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Asked: 2020-05-22 12:09:54 -0500

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Last updated: Jun 01 '20