CollisionDetector

../../_images/collision_detector_col.png ../../_images/collision_detector_nocol.png

What Is This

Collision check between robot model and point cloud.

This node has service interface. You can request collision check by service.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2):

    input pointcloud.

Publishing Topics

None.

Advertising Services

  • ~check_collision (jsk_recognition_msgs/CheckCollision):

    Service interface to check collision. joint is the joint state of robot. pose is the pose of root link, which is specified by the parameter ~root_link_id.

sensor_msgs/JointState joint
geometry_msgs/PoseStamped pose
---
bool result

Parameters

  • ~world_frame_id (String, default: map)

    World frame_id.

  • ~robot_description (String, required)

    robot_description of the collision-checked robot. The namespace is private, so you can specify the robot, which is different from global robot_description.

  • ~root_link_id (String, default: BODY)

    The name of robot root link.

  • ~self_see_default_padding (Double, default: 0.01)

    Same as the parameter in self_filter. Padding of robot link in collision check.

  • ~self_see_default_scale (Double, default: 1.0)

    Same as the parameter in self_filter. Scale of robot link in collision check.

  • ~self_see_links (Array of link configuration, required)

    Same as the parameter in self_filter. Configuration of links for collision check. Link configuratin consists of name (required), padding (optional), and scale (optional).

  • ~publish_tf (Boolean, default: False)

    Publish tf of robot links. This is useful to display robot model in Rviz.

Sample

roslaunch jsk_pcl_ros sample_collision_detector.launch