Apply to SVN revision: 8259
This patch adds the ability to
The intention is that walls act like traditional obstacles; ie things collide with them. Debris, on the other hand, is intended to act as an impediment to some robots, but not others. An example might be a wheeled robot that cannot navigate through debris; it would become stuck as the debris is an obstacle to its operation. A tracked robot is mobile enough to navigate through the debris without becoming stuck.
The obstacle_return property is defined as a binary number, with each bit indicating whether the model acts as an obstacle in certain circumstances.
For example 0b100 represents:
binary number: 100
So we use the digits to mean (from left to right):
- everything else
To mark something as debris, we'd set its obstacle_return to: 0b100
To mark something as a wall, we'd set its obstacle_return to: 0b010
Everything else would have an obstacle_return: 0b001