Mastering ROS for Robotics Programming - Second Edition

MoveIt! collision checking

The CollisionWorld object inside MoveIt! is used to find collisions inside a planning scene which is using the Flexible Collision Library (FCL) package as a backend. MoveIt! supports collision checking for different types of objects, such as meshes, primitive shapes such as boxes, cylinders, cones, spheres, and Octomap.

Collision checking is one of the computationally expensive tasks during motion planning. To reduce this computation, MoveIt! provides a matrix called ACM (Allowed Collision Matrix). It contains a binary value corresponding to the need to check for a collision between two pairs of bodies. If the value of the matrix is 1, it means collision of the corresponding pair is not needed. We can set the value ...