disable caster and base_link collision

ZebraDevs · Oct 13, 2022 · 301580f · 301580f
1 parent 41157e0
commit 301580f
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/fetch_moveit_config/config/fetch.srdf b/fetch_moveit_config/config/fetch.srdf
@@ -48,6 +48,10 @@
     <disable_collisions link1="base_link" link2="shoulder_pan_link" reason="Never" />
     <disable_collisions link1="base_link" link2="torso_fixed_link" reason="Adjacent" />
     <disable_collisions link1="base_link" link2="torso_lift_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="fl_caster_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="fr_caster_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="bl_caster_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="br_caster_link" reason="Adjacent" />
     <!-- <disable_collisions link1="base_link" link2="upperarm_roll_link" reason="Never" /> -->
     <disable_collisions link1="bellows_link" link2="bellows_link2" reason="Default" />
     <disable_collisions link1="bellows_link" link2="elbow_flex_link" reason="Never" />