Gazebo | Ignition | Community
Ask Your Question

Detecting collisions without (very small) interfering with physical objects?

asked 2014-03-26 08:04:54 -0600

AndreiHaidu gravatar image

I would like to take advantage of the collision msgs by checking if some objects pass trough a given area. I would create the area as an invisible link, with a collision that actually does not interfere with the other objects, but still knows when it collides with them. Is it possible to set up the parameters in such a way? I could set the thickness of the object really small and the penetration depth larger, would that do it? Or it will skip collision detection?

I did not have the time to test this yet, I just wanted to know in advance if it is possible, so I will know where to start.


I will give an update in a while after trying this.

Cheers, Andrei

edit retag flag offensive close merge delete


I have a branch (collision_bitmask) started that will do what you are asking for. Let me look at it tomorrow to see where it stands.

nkoenig gravatar imagenkoenig ( 2014-03-26 19:30:23 -0600 )edit

it worked with the collide_without_contact tag, thanks

AndreiHaidu gravatar imageAndreiHaidu ( 2014-03-27 03:26:00 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2014-03-26 19:25:40 -0600

scpeters gravatar image

We did something very similar to this with the MudPlugin (added in pull request 448). It uses a special sdf tag called collide_without_contact, though it only works in ODE right now. Take a look at that.

edit flag offensive delete link more


worked like a charm, thanks :)

AndreiHaidu gravatar imageAndreiHaidu ( 2014-03-27 03:25:03 -0600 )edit

Question Tools


Asked: 2014-03-26 08:04:54 -0600

Seen: 459 times

Last updated: Mar 26 '14