Levi Armstrong

@SeanCurtis-TRI Do you have insight into the tests failing? I assume they just need to be updated due to the bounding box changing but have not looked into it.

Another option would be to modify the Class to allow the user to set a margin on the AABB. Let me know if either of these are acceptable.

Any thoughts on this PR?

I have recently been conducting performance analysis of FCL and Bullet and noticed that for distance checks FCL was slower. After digging into the code I noticed that when making...

Also I have seen a perform improvement with adjusting the bounding box size in the BVH opposed to using the current approach where the distance is checked between bounding boxes....

I was getting the same error but if you clone the libccd repository and build with double precisions the error goes away.

When you run the application is it visible?

This uses the same command line tool in the ROS documentation. For it to create the `src` and `include` directory you need to add the catkin depends `roscpp` and the...

I will try it again and post the error.

It looks like the issue is when building a workspace entirely of ros agnostic packages. If you have at least one ament package it works. I will need to track...