jeremylebon / actor_collisions

Adding this plugin allows actor to have collision properties, enabling dynamic pedestrians or obstacles to be swept by the lidar in the Gazebo simulation scene.

Actor Collisions Plugin

This plugin example demonstates how to enable collisions for an animated actor and scale them.

Key points:

• The plugin must call Link::Init on each of the actor's links so collisions are enabled on the physics engine

• When using ODE as the physics engine, it is necessary to set <allow_auto_disable> to false on models which should collide with the actor. This does not mean that setting it to true will prevent collisions.

• The collision names used on the SDF file take the following format:

  <node_name>_<node_name>_collision

  Where the nodes are described on the skeleton's COLLADA file.

Build plugin

From this directory

mkdir build
cd build
cmake ..
make

Run example world

An example world is provided where an actor is walking in circles and there are objects on the way for it to collide with. Run it as follows:

cd build
gazebo ../actor_collisions.world

Generate new worlds

The example world was generated from a template that randomizes various shapes parameters. You can generate new ones from this directory as follows:

erb actor_collisions.world.erb > actor_collisions.world

Reference

https://blog.csdn.net/tanjia6999/article/details/102629735#comments_13170403