franka_selfcollision

This package contains the library and the service for the FR3_duo self-collision check.

Important

Minimum necessary franka_description version is 2.3.2. You can clone franka_description package from https://github.com/frankarobotics/franka_description.

Functionality

This monitoring node is spawned by fr3_duo.launch.py in franka_bringup if the check_selfcollision argument is enabled.

The node continuously monitors the robot’s joint states to check for self-collisions between the FR3_duo links. It performs two main actions upon detecting a collision (or violation of the security margin):

  1. Publishes Status: Sends a boolean to the topic /fr3_duo_self_collision_node/collision_detected.

  2. Logs Warning: Prints the specific colliding link pairs to the console if enabled (throttled to 1Hz to prevent spam).

Configuration

Parameters are defined in config/self_collision_node.yaml:

  • security_margin: Safety buffer around the robot links in meters (default: 0.045).

  • print_collisions: If true, logs the names of the colliding links to the console.

Usage

The self-collision node is automatically started when you launch the robot with check_selfcollision set to true.