Can't get self_collide working

self_collide

asked 2015-08-12 06:46:05 -0500

debz
198 ●9 ●10 ●19

updated 2015-08-17 07:42:01 -0500

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

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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.

chapulina ( 2015-08-12 11:54:23 -0500 )edit

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...

debz ( 2015-08-14 06:15:01 -0500 )edit

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?

chapulina ( 2015-08-14 12:11:42 -0500 )edit

Yes I did ! I added the code of the world I did in my question.

debz ( 2015-08-17 07:41:04 -0500 )edit

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answered 2015-08-17 10:36:22 -0500

debz
198 ●9 ●10 ●19

Ok, I solved this. The tag <self_collide>1</self_collide> had to be added in the two links of the two fingers. I read in the documentation that it was possible to declare it for the entire model, but it is not !

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answered 2017-02-10 14:40:59 -0500

mape1082
11 ●2 ●3 ●4

A bit late but it does work when you declare it for the entire model. Only that you have to do it inside a gazebo tag:

  <gazebo>
        <self_collide>1</self_collide>
 </gazebo

Regards

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