fcl_examples

Flexible Collision Libraries examples.

	Sphere	Box	Cylinder	Triangle	Plane	Convex	Capsule	Ellipsoid	Cone
Sphere	⭕	⭕	⭕	❌	❌	❌	❌	❌	❌
Box	⭕	⭕	⭕	❌	❌	❌	❌	❌	❌
Cylinder	⭕	⭕	⭕	❌	❌	❌	❌	❌	❌
Triangle	❌	❌	❌	❌	❌	❌	❌	❌	❌
Plane	❌	❌	❌	❌	❌	❌	❌	❌	❌
Convex	❌	❌	❌	❌	❌	❌	❌	❌	❌
Capsule	❌	❌	❌	❌	❌	❌	❌	❌	❌
Ellipsoid	❌	❌	❌	❌	❌	❌	❌	❌	❌
Cone	❌	❌	❌	❌	❌	❌	❌	❌	❌

Requirements

ROS melodic
fcl >= 0.6.0
You should not use fcl <= 0.5.0. Because there are bug on calculating nearest points.
About the detail, see flexible-collision-library/fcl#127

Installation

$ mkdir <catkin_ws>/src -p
$ cd <catkin_ws>/src
$ git clone https://github.com/RyodoTanaka/fcl_examples.git
$ cd <catkin_ws>
$ wstool init src
$ wstool merge -t src src/fcl_examples/dependencies.rosinstall
$ wstool up -t src
$ rosdep update
$ rosdep install -i -y -r --from-paths src
$ catkin b