Fix panda self-collisions (#49)

This commit contains a fix for self-collisions that were introduced in https://github.com/frankaemika/franka_ros/releases/tag/0.8.0. Franka changed the collision goemetries from meshes to shapes. Since these geometries are too coarse some joints are now in self collision. This commit might be removed in the future if the issue is fixed in the upstream.
rickstaa · Aug 30, 2021 · 909ab0e · 909ab0e
1 parent 8a4b578
commit 909ab0e
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
@@ -58,5 +58,13 @@
         <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
         <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
         <disable_collisions link1="panda_link7" link2="panda_link8" reason="Adjacent"/>
+        <!-- Fix self-collisions
+            NOTE: The code below fixes self-collisions that are introduced because the
+            collision geometries provided by Franka are too course (see
+            https://github.com/ros-planning/panda_moveit_config/issues/72#issuecomment-768472329
+            for more information).
+        -->
+        <disable_collisions link1="panda_link5" link2="panda_link8" reason="Default" />
+        <disable_collisions link1="panda_link6" link2="panda_link8" reason="Default"/>
     </xacro:macro>
 </robot>