Hey
I have implemented cumotion and nvblox to my robot and now want to use it but when I do the planning with the cumotion it plans it so close to the nvbloxs objects that it’s not reliable what would be the easiest way to integrate a safety distance so the path planning doesn’t go so close to the nvblox voxels
Hi @isoahojesse
You can use the distance_threshold to control the collision sphere: isaac_ros_cumotion — isaac_ros_docs documentation
| ROS Parameter | Type | Default | Description |
|---|---|---|---|
distance_threshold |
float |
0.1 |
Maximum distance from a given collision sphere (in meters) at which to mask points |
Best,
Raffaello
Thank you for the quick response this fixed the problem!