collision-geometry

Use simple primitives to approximate complex visual meshes, balancing physical envelope accuracy with physics performance to keep ROS 2 simulations fast and stable while maintaining safe navigation.

Complex URDF collision meshes slow down Gazebo simulations by increasing collision check complexity. Replace detailed meshes with simple primitives or convex hulls to significantly improve physics performance and stability.

Yes, you can configure multiple collision elements per link in a URDF file. Combining several simple collision primitives allows you to effectively approximate non-convex robot shapes without sacrificing simulation speed.

Align Nav2 footprint with URDF collision geometry by ensuring the collision envelope matches the robot's physical boundary. This consistency guarantees accurate collision avoidance and safe navigation behavior during autonomous movement.

Use convex hulls for URDF collision modeling when approximating shapes that are too complex for single primitives but need better physics performance than raw meshes. This approach adheres to best-practice requirements for stable simulations.