Collision Geometry - MoveIt

[peterdavidfagan]

I have replaced the default gripper on my labs' Franka Emika Panda with a robotiq gripper. I am reviewing our MoveIt configuration files as part of this process and have encountered issues caused by collisions occurring between various links of the robot. I am using the default safety distance of 0.03 as seen here and I used MSA to disable collision between various links.

I've seen quite a number of GitHub issues and discussions about coarse collision geometries causing issues for planning with MoveIt due to collisions. I wished to open up this discussion to ask what the current recommendation is for addressing this issue. I am considering adopting the approach in this file.

My initial draft can be found here.

[peterdavidfagan]

It looks like the collision geometry (due to how coarse it is) makes MSA's automated collision checking not so helpful, I am going to align with an existing repo except update it for ROS 2 moveit/panda_moveit_config#133.

Related: frankaemika/franka_ros2#18