Demo for the
collision_checker
package.
roslaunch collision_checker_demo demo.launch
# Use the 2D Pose Estimate tool in Rviz to specify robot pose
# If pose is valid, robot polygon will be shown in green, otherwise in red
The collision check result may not coincide with what's shown for the robot footprint. This is due to the fact that the robot's pose is not rounded to the nearest grid resolution. By playing around with this demo you can get an idea of how much the rounding error is compared to the size of your robot.
MIT
Naoki Mizuno (mizuno.naoki@rm.is.tohoku.ac.jp)