Questions tagged [collision]
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110 questions
0 votes
1 answer
43 views
Nav2 + Robot Localization: odometry_filtered not publishing, TF odom offset increases with each goal
I'm working on an autonomous navigation setup with ROS2 Humble (Nav2 + robot_localization + AMCL) on Ubuntu 22.04, and my robot is moving incorrectly and losing localization after each goal. Current ...
- 5
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1 answer
90 views
Error when launching Nav2 Collision Monitor
I'm experiencing an issue in my stack when I add the Collision Monitor and can't understand what exactly the problem is. When the project is launched I get this error: ...
- 1
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0 answers
42 views
category_bitmask does nothing in Gazebo sdf
I am trying to run neuroevolution of quadcopter agents in Gazebo (harmonic). The initial setup I want to achieve is one world with several duplicate models, each controlled externally by a neural ...
0 votes
0 answers
108 views
NAV2 Error: Latest source and current collision monitor node timestamps differ on... . Ignoring the source
Required Info: Operating System: Ubuntu 24.04 Computer: Raspberry Pi 5 & Lenovo Thinkpad ROS2 Version: Jazzy Version or commit hash: c8e8b23 Problem I am using NAV2 on a differential drive ...
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18 views
gazebo harmonic version of RayShape's GetIntersection(double &_dist, std::string &_entity)?
Is there anything similar to RayShape's GetIntersection(double &_dist, std::string &_entity) function in Gazebo harmonic? I would like to convert a ros noetic gazebo classic plugin to ROS2 ...
- 1
0 votes
1 answer
152 views
Diseable collision between 2 links in the urdf
Comming from this former post I did : Add_an_EE_to_my_Robot The question was about how to add an End-effector (EE) to a UR robot without facing any problem of collision between this EE and the rest of ...
- 1
0 votes
1 answer
131 views
Obstacle's margin in Navigation2 costmap
I am using ROS2 humble with setup for differential drive robot of rectangular shape. I need my robot to move close to obstacles (~5 cm from the walls). I am not able to achive that with Nav2 Smac ...
- 52
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1 answer
79 views
How to debug Gazebo Garden crashing on loading a robot description?
ROS2 Humble Gazebo Garden I'm trying to load a robot description into Gazebo Garden in my Humble install. I'm following the instructions on how to migrate from Gazebo Classic to Garden. The xacros are ...
- 11
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1 answer
35 views
Collision Update on a Manipulator Links
I am trying to apply a pick-and-place operation with the Fanuc 6 DOF robot. I am using Moveit2 to give motion planning commands to robot. It sometimes gets into limit error during the execution of ...
- 29
0 votes
2 answers
747 views
How to configure Nav2's SMAC Planner to maintain a safer distance from obstacles?
I'm facing an issue where the SMAC Planner in Nav2 consistently plans paths too close to obstacles, often just on the margins or even within the inflated areas. My aim is for the planner to ...
- 296
0 votes
1 answer
155 views
How to simulate torsional friction in Gazebo Sim like in Gazebo Classic?
In Gazebo Classic, it was possible to assign torsional friction to objects, as explained here https://classic.gazebosim.org/tutorials?tut=torsional_friction&cat=physics. However, when I follow the ...
- 15
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1 answer
41 views
Restrictions of multiple links per model
If i have a model with two links, one containing a visual and the other containing the collider, the colliders won't be considered, and it will fall through everything. Modified model from the shapes....
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1 vote
2 answers
652 views
Collision Monitor in Nav2 not work
I am new to using Collision Monitor in Nav2 package. I am wondering how to make it worked because I can launch the default launch file and my yaml file is as the following ...
0 votes
1 answer
187 views
Inflation layer costs: Polygonal vs. Circular Footprints
Does the inflation layer calculate Inflation cost in global costmap differently within the inflation radius when initialized with a polygonal footprint versus a circular footprint? Exclude the local ...
- 118
0 votes
1 answer
407 views
Hope to disable collision between Robot model and object model While the Lidar could still detect the Object in Gazebo
Right now I have added this code to the collision element of the Object model sdf file, which allows the robot could go through the object very very slowly. Is there a way to make the robot have no ...
