I am trying to implement a pick up function for a robot in Gazebo Harmonic. The main goal would be to drive the robot to an object (without colliding with the it, realisticity of the simulation is not the main concern) and then re-enable the collision and put the object on the robot with Gazebo's SetEntityPose-service. What I would like to do is to initially have the collision disabled with the robot but enabled with the world. After picking, all the collisions would be on to prevent the object from falling through the robot. Is this possible?
1 Answer
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I think what you want to do instead is to use a DetachableJoint to attach your object to your robot, when you want them to move together.
