Iris: improve collisions - #164
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Hi @srmainwaring ! Thanks for this. Looks good. One change so it works for the plain gazebo flow.
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>package://ardupilot_gazebo/models/iris_with_standoffs/meshes/iris_collision.stl</uri> |
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| <uri>package://ardupilot_gazebo/models/iris_with_standoffs/meshes/iris_collision.stl</uri> | |
| <uri>model://iris_with_standoffs/meshes/iris_collision.stl</uri> |
For main branch, I think need to use model:// uri
- Replace large box with collision STL that approximates the base. - Add cylinders for the leg collisions. - Remove deprecated physics elements. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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Thanks! Working good : )
LGTM
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Improve the collisions for the base Iris quadcopter model
The current collision mesh for the Iris quadcopter is a single large box that bounds the entire frame. This is unsuitable for situations where self collision information is required: e.g. robotic arms using MoveIt.
Details
Figure: old collision meshes
Figure: new collision meshes
Application
MoveIt uses the collision meshes to calculate a collision matrix to help accelerate planning calculations. With the updated collision definitions MoveIt is able to detect collisions between a robotic arm and the copter frame and rotor discs.
Figure: self collision checking of copter and arm in MoveIt