Add distance to servo collision checker requests #2511
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sea-bass
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AndyZe
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Nov 6, 2023
AndyZe
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Nov 6, 2023
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Oh no! |
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But I also remember collision scaling actually working since I had tested it manually and the robot did slow down and stop without colliding. |
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The stopping part did work, but the distance always returned some large max value because it was not being returned. So basically the scaling factor would go directly from 1.0 to 0.0 once two links were in actual collision. |
eholum
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We found a bug today where the collision distances were not actually being returned by servo's collision checker. So basically, the distance scaling was never working and you could servo right into a binary "is colliding" state.
For reference, these parameters were on before the refactor: https://github.com/ros-planning/moveit2/blob/humble/moveit_ros/moveit_servo/src/collision_check.cpp#L62-L64
@ibrahiminfinite