Cleanup collision/auxiliary shapes in urdf #280
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CI in this repository is fully broken/outdated. |
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These values are obviously fictitious (the whole link is...) Additionally, KDL datastructures have been complaining about this for ages because KDL does not support inertials for the model root (whatever that means).
MoveIt master recently changed its policy w.r.t. empty collision geometries. The current version complains: ros.moveit_core.robot_model.empty_collision_geometry: Link sensor_mount_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. ros.moveit_core.robot_model.empty_collision_geometry: Link double_stereo_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. As these visuals are not helpful and do not add anything to the description, I just remove them.
to enable *some* collision checking. It was not enabled at all before and it's barely in the workspace of the arms at all (without tool use). So a rough bounding box is fine.
If one wants to see the frames, just enable the frame in RViz. There is no need whatsoever to keep these in the description.
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Thank you for fixing CI @k-okada, please review this now. |
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Ping @k-okada |
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@k-okada CI succeeded, although it reports it is still waiting for results. Travis had quite a hick-up w.r.t. that issue lately. We have observed the same for a number of requests in the MoveIt repositories. |
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Thanks a lot!
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MoveIt recently changed its policy concerning empty collision geometries.
With these changes, the system will warn about visual geometry without associated collision geometries:
This pull-request cleans up the PR2 descriptions and removes all useless auxiliary shapes to get rid of these warnings.
Additionally, KDL complains for a long time that the robot's root link must not contain an inertial specification. As the inertial values here are fictitious, I remove them too.
Lastly, the collision geometry of the kinect2 camera did not exist at all (it was practically disabled by a 5mm sphere). I added a bounding box instead, as arm motions with an attached object can indeed reach the spoiler.
Here's the before/after pictures for the last change:
@k-okada please review