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How to: Set collision for ray sensor, but not for chassis


I would like to define models, which can be sensed by the ray sensor, but can not collide with each other.

A simple example is attached. Here I want to sense permanently the corner of the red Object, while I am driving through the object. Now the problem appears, if I set the collision parameter of the red object. If they are <pose>0 0 0 0 0 0</pose>, the robot can drive through the object, but the ray sensor can not sense it. On the other hand, if I set the collision to the same values as the visual parameters, the ray sensor can sense to corners, but the robot can not drive through.

Corners can be detected Robot can drive through, but corners can not be detected

How can I set the right parameters, to sense the corners and dirve through an object?

Kind regards, tik0