MoveIt contained a split collision environment of the robot itself and the world into
CollisionRobot is used for self-collision checks whereas
CollisionWorld for robot-world collision detection.
After discussions within the community, we decided that a single unified collision environment is the better solution. It reduces complexity and improves maintainability. Adding other collision detectors like Bullet and leveraging their full performance potential becomes easier. For more details, please see the PR.
The changes are only merged in the master branch and will not be cherry-picked to any stable release.
The changes break the existing API in two places: Code which directly interacts with the collision detection through the
getCollisionWorld environment. These functions do not exist anymore and are superseded by
getCollisionEnv which returns the new unified collision environment. The new
CollisionEnv provides the union of all functions in
Please report any bugs and issues you encounter during the transition on GitHub.