I'd like to write a plugin for collision detection for Moveit, and I've checked out their page here:
https://moveit.ros.org/documentation/plugins/#collisionplugin
However, it's not clear to me how the plugin is called or what methods need to be supplied. It's not clear to me how a `checkCollision` call ends up getting to the plugin. The only member function appears to be `initialize`. Should I also be implementing versions of the classes in the template of the allocator (` MyCollisionWorld, MyCollisionRobot`)?
It's unclear to me how this all architecturally fits into Moveit and what interacts with it. I'm attempting to implement a plugin which allows making decisions about collisions not by the number of contacts, but as having each contact having a cost (such that links in the robot can collide and move into the space of some objects). It's not clear if the API for the plugin allows this.
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