https://github.com/stevemacenski/gazebo_model_collision_plugin

A gazebo plugin definable from URDF to inform a client of a collision with an object
https://github.com/stevemacenski/gazebo_model_collision_plugin

Last synced: about 1 month ago
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A gazebo plugin definable from URDF to inform a client of a collision with an object

• Host: GitHub
• URL: https://github.com/stevemacenski/gazebo_model_collision_plugin
• Owner: SteveMacenski
• License: lgpl-2.1
• Created: 2019-09-25T02:47:05.000Z (over 5 years ago)
• Default Branch: main
• Last Pushed: 2020-07-15T01:48:05.000Z (almost 5 years ago)
• Last Synced: 2025-03-26T12:51:13.878Z (about 2 months ago)
• Language: C++
• Size: 13.7 KB
• Stars: 21
• Watchers: 3
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
## Gazebo Model Collision Plugin 

This is a gazebo plugin that needs to be added to your URDF / gazebo files in order to make collision detection of the base work.

Please place

```

  

  

    

      

        base_footprint_fixed_joint_lump__base_link_collision

      

      

        na

        /gazebo/base_collision

        10.0

      

    

  

```

in your gazebo.xacro file. The reference frame should be the global frame of your robot in simulation, which is generally `base_footprint`. The name of the collision entry can be found via `gz sdf -p turtlebot3_burger.urdf.xacro > robot.sdf` and reading the `robot.sdf` file to find the name of the collision object for the base link. We care about base link because that is the recommended place to define the collision object for the base robot and inertia information. If you'd like to be conservative or not collision check against the mesh, a collision object like a box surrounding the robot will work as well.

Setting the output topic and update rate are optional.