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[cob_obstacle_distance_moveit] skip distance computation for dummy links #111

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fmessmer opened this issue Apr 6, 2017 · 1 comment · May be fixed by #112
Open

[cob_obstacle_distance_moveit] skip distance computation for dummy links #111

fmessmer opened this issue Apr 6, 2017 · 1 comment · May be fixed by #112
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@fmessmer

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@fmessmer
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fmessmer commented Apr 6, 2017 •
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in order to reduce distance computations within cob_obstacle_distance_moveit, we should skip distance computation for links which are "dummy links" within the urdf, e.g. torso_1_link or *_base.link (as those are most likely never colliding anyway or have a larger collision link encasing them)

preferably, this is done via a yaml file (cob_hardware_config/X_self_collision.yaml) and the parameter is named skip_links which is a list of links to be skipped...

@fmessmer FYI
@fmessmer fmessmer self-assigned this Apr 6, 2017
This was referenced Apr 6, 2017
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@mjpatell
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Hello @fmessmer,

Still this is an issue or somebody take over it and solve it?

Thank you.

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[WIP] obstacle distance skip links fmessmer/cob_manipulation
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@fmessmer @mjpatell