From 41157e09ae4052466f281cd6c39045d76cbaf8d7 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 13 Oct 2022 22:57:45 +0900
Subject: [PATCH 1/3] check base_link and upperarm_roll_link collision

---
 fetch_moveit_config/config/fetch.srdf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fetch_moveit_config/config/fetch.srdf b/fetch_moveit_config/config/fetch.srdf
index 259f0af3..c0b5b745 100644
--- a/fetch_moveit_config/config/fetch.srdf
+++ b/fetch_moveit_config/config/fetch.srdf
@@ -48,7 +48,7 @@
     <disable_collisions link1="base_link" link2="shoulder_pan_link" reason="Never" />
     <disable_collisions link1="base_link" link2="torso_fixed_link" reason="Adjacent" />
     <disable_collisions link1="base_link" link2="torso_lift_link" reason="Adjacent" />
-    <disable_collisions link1="base_link" link2="upperarm_roll_link" reason="Never" />
+    <!-- <disable_collisions link1="base_link" link2="upperarm_roll_link" reason="Never" /> -->
     <disable_collisions link1="bellows_link" link2="bellows_link2" reason="Default" />
     <disable_collisions link1="bellows_link" link2="elbow_flex_link" reason="Never" />
     <disable_collisions link1="bellows_link" link2="estop_link" reason="Never" />

From 301580f7df23338a93f46061f2f4b6d113e08933 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 13 Oct 2022 22:58:17 +0900
Subject: [PATCH 2/3] disable caster and base_link collision

---
 fetch_moveit_config/config/fetch.srdf | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/fetch_moveit_config/config/fetch.srdf b/fetch_moveit_config/config/fetch.srdf
index c0b5b745..86b20840 100644
--- a/fetch_moveit_config/config/fetch.srdf
+++ b/fetch_moveit_config/config/fetch.srdf
@@ -48,6 +48,10 @@
     <disable_collisions link1="base_link" link2="shoulder_pan_link" reason="Never" />
     <disable_collisions link1="base_link" link2="torso_fixed_link" reason="Adjacent" />
     <disable_collisions link1="base_link" link2="torso_lift_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="fl_caster_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="fr_caster_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="bl_caster_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="br_caster_link" reason="Adjacent" />
     <!-- <disable_collisions link1="base_link" link2="upperarm_roll_link" reason="Never" /> -->
     <disable_collisions link1="bellows_link" link2="bellows_link2" reason="Default" />
     <disable_collisions link1="bellows_link" link2="elbow_flex_link" reason="Never" />

From fd36e4844deb58264dd4fde85e4195be286c6d57 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 13 Oct 2022 22:59:22 +0900
Subject: [PATCH 3/3] check estop and gripper collision

these two links can be collided
---
 fetch_moveit_config/config/fetch.srdf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fetch_moveit_config/config/fetch.srdf b/fetch_moveit_config/config/fetch.srdf
index 86b20840..60a7ecc1 100644
--- a/fetch_moveit_config/config/fetch.srdf
+++ b/fetch_moveit_config/config/fetch.srdf
@@ -94,7 +94,7 @@
     <disable_collisions link1="estop_link" link2="head_tilt_link" reason="Never" />
     <disable_collisions link1="estop_link" link2="l_wheel_link" reason="Never" />
     <disable_collisions link1="estop_link" link2="laser_link" reason="Never" />
-    <disable_collisions link1="estop_link" link2="r_gripper_finger_link" reason="Never" />
+    <!-- <disable_collisions link1="estop_link" link2="r_gripper_finger_link" reason="Never" /> -->
     <disable_collisions link1="estop_link" link2="r_wheel_link" reason="Never" />
     <disable_collisions link1="estop_link" link2="shoulder_lift_link" reason="Never" />
     <disable_collisions link1="estop_link" link2="shoulder_pan_link" reason="Never" />