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Support non-convex mesh model #2

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wkentaro opened this issue Oct 2, 2015 · 1 comment

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wkentaro commented Oct 2, 2015

I'd like to use self_filter to filter urdf model which is not robot.
(so this is not robot_filter but urdf_filter)

And I'm using non-convex model in urdf definition for link.
the self_filter in this repo supports only convex model according to
https://github.com/PR2/pr2_navigation/blob/hydro-devel/pr2_navigation_self_filter/src/bodies.cpp#L61

Is that possible to support non-convex model?

wkentaro mentioned this issue

[pr2_navigation_self_filter] Support non-convex mesh model PR2/pr2_navigation#22

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garaemon commented Dec 4, 2015

FCL?
http://wiki.ros.org/fcl

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