gazebo mesh-objects laser collisions

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gazebo mesh-objects laser collisions

Dejan Pangercic
Hi there,

do you know whether there has to be something special done in order to
enable the collision check between a laser sensor (e.g. hokuyo) and an
object imported as a mesh in ROS's version of Gazebo?

This is how a geom section of my object looks atm:
    <geom:trimesh name="cup1_geom">
         <!--<laserRetro>2000.0</laserRetro>
          <kp>1000000000.0</kp>
          <kd>1.0</kd>-->
          <scale> 0.002 0.002 0.002</scale>
          <mesh>mug.mesh</mesh>
          <xyz>
            0.400000 0.000000 0.455000
          </xyz>
          <rpy>
            90.000000 0.000000 0.000000
          </rpy>
            <visual>
              <scale> 0.002 0.002 0.002</scale>
              <material>Gazebo/Blue</material>
              <mesh>mug.mesh</mesh>
            </visual>
        </geom:trimesh>

thx and cheers, D.
--
MSc. Dejan Pangercic
PhD Student/Researcher
Computer Science IX
Technische Universität München
Telephone: +49 (89) 289-17780
WWW: http://ias.cs.tum.edu/people/pangercic/
E-Mail: [hidden email]

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Re: gazebo mesh-objects laser collisions

John Hsu-2
Hi Dejan,
nothing in particular, though the mesh needs to be closed and have finite
(volume) thickness.
John

On Dec 16, 2009 9:23 AM, "Dejan Pangercic" <[hidden email]>
wrote:

Hi there,

do you know whether there has to be something special done in order to
enable the collision check between a laser sensor (e.g. hokuyo) and an
object imported as a mesh in ROS's version of Gazebo?

This is how a geom section of my object looks atm:
       <geom:trimesh name="cup1_geom">
        <!--<laserRetro>2000.0</laserRetro>
         <kp>1000000000.0</kp>
         <kd>1.0</kd>-->
         <scale> 0.002 0.002 0.002</scale>
         <mesh>mug.mesh</mesh>
         <xyz>
           0.400000 0.000000 0.455000
         </xyz>
         <rpy>
           90.000000 0.000000 0.000000
         </rpy>
           <visual>
             <scale> 0.002 0.002 0.002</scale>
             <material>Gazebo/Blue</material>
             <mesh>mug.mesh</mesh>
           </visual>
       </geom:trimesh>

thx and cheers, D.
--
MSc. Dejan Pangercic
PhD Student/Researcher
Computer Science IX
Technische Universität München
Telephone: +49 (89) 289-17780
WWW: http://ias.cs.tum.edu/people/pangercic/
E-Mail: [hidden email]

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