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Support including the names of other attached objects in touch_link (backport #3276) #3288

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merged 1 commit into from
Jan 31, 2025
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Support including the names of other attached objects in touch_link (backport #3276) #3288

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19 changes: 19 additions & 0 deletions moveit_core/collision_detection_fcl/src/collision_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,11 +155,30 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
}
}
}

// bodies attached to the same link should not collide
// If one of the attached objects lists the other in touch links set, then collisions are also allowed
if (cd1->type == BodyTypes::ROBOT_ATTACHED && cd2->type == BodyTypes::ROBOT_ATTACHED)
{
if (cd1->ptr.ab->getAttachedLink() == cd2->ptr.ab->getAttachedLink())
{
always_allow_collision = true;
}
else
{
const std::set<std::string>& tl1 = cd1->ptr.ab->getTouchLinks();
const std::set<std::string>& tl2 = cd2->ptr.ab->getTouchLinks();
if (tl1.find(cd2->getID()) != tl1.end() || tl2.find(cd1->getID()) != tl2.end())
{
always_allow_collision = true;
}
}
if (always_allow_collision && cdata->req_->verbose)
{
RCLCPP_DEBUG(getLogger(),
"Attached object '%s' is allowed to touch attached object '%s'. No contacts are computed.",
cd2->getID().c_str(), cd1->getID().c_str());
}
}

// if collisions are always allowed, we are done
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