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Only released in EOL distros:  


NOTE: This package is currently unreleased and contains experimental code. The documentation below describes the current version in the arm_navigation_metrics branch of motion_planning_common, which might be released in E-turtle.

collider provides a collision map for tabletop manipulation. Various sources of input data (e.g. laser and textured stereo) are fused and integrated into an octomap with raycasting in 3D. This enables a dynamically updated collision map for manipulation and serves as a drop-in replacement for collision_map. collider supersedes collision_octomap.


ROS Parameters


~resolution (double, default: 0.1) ~max_range (double, default: -1.0) ~pruning_period (int, default: 5) cloud_sources (XmlRpcValue, default: none) sensor_model_hit (double, default: 0.7) sensor_model_max (double, default: 0.97) sensor_model_min (double, default: 0.12)

cloud_sources parameter

An example of the cloud_sources YAML file is given below. Note that this is the same format used for the regular collision_map.

  - name: full_cloud_filtered
    frame_subsample: 1
    point_subsample: 1
    sensor_frame: laser_tilt_mount_link

Published Topics

Data Topics
collision_map_out (mapping_msgs/CollisionMap) point_cloud_out (sensor_msgs/PointCloud2)
Visualization Topics
octomap_insertion_info_array (visualization_msgs/MarkerArray) occupied_cells (visualization_msgs/Marker) free_cells (visualization_msgs/Marker)

2020-01-18 12:34