AndyZe
AndyZe
Yep, that line should be all that's required. Can you please try it with this PR instead: https://github.com/ros-planning/moveit/pull/2481 It's great to have somebody else try this stuff. Thank you!
I recommend using this line instead: ``` void CurrentState::compute() { scene_ = std::make_shared(robot_model_); scene_->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorBullet::create(), true /* exclusive */); ``` That second **exclusive** arg sets Bullet as the exclusive collision detector,...
Yeah, we saw a drop in speed too. It was a disappointment. Here are my results (time for a single collision check). ``` Bullet, checking the endeffector group: period ranges...
Interesting comments re. the unified collision environment. I don't really know anything about that.
Wow, that's really awful. My results were nowhere near that bad :/
My planning scene is very simple compared to yours, so planning never takes a long time. Your meshes look very complicated. Have you tried using MeshLab to simplify the collision...
For me, Bullet took ~2X as long as FCL in the worst case.
It may be that the mutex locks I added, to prevent the segfault with Bullet, are really causing trouble for a large number of threads. Almost a deadlock.
Ok, thanks. That's a really good point that might help on my project
Bullet only does the continuous collision checks if you use the specialized method for it. By default it's discrete, just like FCL.