knowrob_collision_checking

Extends the KnowRob robotic knowledge base with collision checking capabilities.

testing

Bring up the testing environment with a simulated PR2:

$ roscore
$ roslaunch knowrob_moveit planning_scene.launch
$ rviz

Prepare rviz:

use base_footprint as Fixed Frame
add displays RobotModel and MarkerArray
for the display MarkerArray, select topic /contact_marker_visualizer/marker_array

Use the GUI of the joint-state-publisher to put the PR2 in a configuration you like.

Trigger the collision checker to report, e.g. up to 100 collisions:

  $ rosservice call /planning_scene_client/trigger "data: 100"

This should print the number of collisions in the console and visualize the collisions as small red spheres in rviz.