Can't get self_collide working
arm.worldHi everybody,
I'm building a simple arm robot. I built a world containing the ground, a sun and my arm. Then I simply launch the world using the command "gazebo arm.world" and let my arm robot fall down. But the several links of the robot don't collide. I put the tag "<self_collide>" to "true" in my arm model and I also tried to use a model_plugin to programmatically set the "self_collide" attribute for each link to "true".
Does anyone have an idea why there is no collision ? (I looked with the view->collision but nothing happens). Could it be because my links don't have any inertial properties ?
I just need the two fingers of the arm to collide together but have no idea how to process...
Cheers,
Debz
You say nothing happens when you do view->collisions - are you sure your model has collisions? You should see orange transparent representations of them. Maybe try making the model itself transparent so its easier to see collisions.
Yes I did exactly what you said (view -> transparent and collisions). But nothing seems to happen. I actually would like the two fingers to be not able to get through each other (like in a real world). I know that two links connected by a joint will never collide, but here it is not the case...
So it seems like you haven't added collisions to your model's SDF. Try adding some [collision](http://sdformat.org/spec?ver=1.5&elem=collision) elements?
Yes I did ! I added the code of the world I did in my question.