Regardless of the scale and padding settings, the expansion volume of the entity remains unchanged.

[bytixe]

Hello, I have configured Box, Sphere, and Cylinder shapes respectively and maximized both scale and padding parameters. However, the '/collision_shapes' function fails to completely filter out the robotic arm's body.

The parameter configuration file I used is self_filter.yaml, and the launch file is self_filter.launch.py.
self_filter.yaml:
`
self_filter:
ros__parameters:
# sensor_frame: "rslidar"
# sensor_frame: "base_link"
# sensor_frame: "camera_depth_optical_frame"
sensor_frame: "camera_color_optical_frame"

# For spheres (single scale & padding)
default_sphere_scale: 1.0 
default_sphere_padding: 0.005

# For boxes (x,y,z scale & padding)
default_box_scale: [1.0, 1.0, 1.0] 
default_box_padding: [0.02, 0.02, 0.02] 

# For cylinders (radial scale, vertical scale, radial padding, vertical padding)
default_cylinder_scale: [1.0, 1.0]
default_cylinder_padding: [0.03, 0.03]

keep_organized: false

zero_for_removed_points: false

invert: false

min_sensor_dist: 0.0 # Minimum distance from sensor to avoid self-collision

self_see_links:
  names:
    - base_link
    - shoulder_link
    - upperarm_link
    - forearm_link
    - wrist1_link
    - wrist2_link
    - wrist3_link

  base_link:
    box_scale: [1.0, 1.0, 1.0]
    box_padding: [0.5, 0.5, 0.5]

  shoulder_link:
    box_scale: [1.0, 1.0, 1.0]
    box_padding: [0.5, 0.5, 0.5]
  
  upperarm_link:
    box_scale: [1.0, 1.0, 1.0]
    box_padding: [0.5, 0.5, 0.5]

  forearm_link:
    # shape_type: box
    shape_type: "mesh"
    box_scale: [1.0, 1.0, 1.0]
    box_padding: [0.5, 0.5, 0.5]

  wrist1_link:
    box_scale: [1.0, 1.0, 1.0]
    box_padding: [0.5, 0.5, 0.5]

  wrist2_link:
    box_scale: [1.5, 1.5, 1.5]
    box_padding: [0.5, 0.5, 0.5]

  wrist3_link:
    box_scale: [0.2, 0.1, 0.2]
    box_padding: [0.05, 0.05, 0.1] 

self_filter.launch.py:

self_filter.launch.py

import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, LogInfo
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
from ament_index_python.packages import get_package_share_directory

import xacro
import re

def remove_comments(text):
pattern = r''
return re.sub(pattern, '', text, flags=re.DOTALL)

def generate_launch_description():

package_name1 = 'fairino_description' 
# package_name1 = 'fairino' 
package_dir1 = get_package_share_directory(package_name1)

package_name2 = 'fr_motion_control'  
package_dir2 = get_package_share_directory(package_name2)

default_filter_config = os.path.join(package_dir2, 'params', 'self_filter.yaml')

# default_urdf_path = os.path.join(package_dir1, 'urdf', 'integration.xacro') 
default_urdf_path = os.path.join(package_dir1, 'urdf', 'fairino10_v6.urdf')  

xacro_file = default_urdf_path
doc = xacro.parse(open(xacro_file))
xacro.process_doc(doc)

robot_description_content = doc.toxml()


description_name_arg = DeclareLaunchArgument(
    'description_name',
    default_value='/robot_description'
)

zero_for_removed_points_arg = DeclareLaunchArgument(
    'zero_for_removed_points',
    default_value='true' 
)

lidar_sensor_type_arg = DeclareLaunchArgument(
    'lidar_sensor_type',
    default_value='0' 
)

in_pointcloud_topic_arg = DeclareLaunchArgument(
    'in_pointcloud_topic',
    # default_value='/rslidar_points'
    default_value='/camera/depth/points' 
    # default_value='/obstacle_cloud'
)

out_pointcloud_topic_arg = DeclareLaunchArgument(
    'out_pointcloud_topic',
    default_value='/velodyne_points_out' 
    # default_value='/self_filter/filtered_points'  
)

robot_description_arg = DeclareLaunchArgument(
    'robot_description',
    default_value=robot_description_content
)

filter_config_arg = DeclareLaunchArgument(
    'filter_config',
    default_value=default_filter_config
)

# Declare use_sim_time argument
# use_sim_time_arg = DeclareLaunchArgument(
#     'use_sim_time',
#     default_value='true', # Keep default as true for standalone use
#     description='Use simulation (Gazebo) clock if true'
# )

# Create a log action to print the config
log_config = LogInfo(msg=LaunchConfiguration('filter_config'))

self_filter_node = Node(
    package='robot_self_filter',
    executable='self_filter',
    name='self_filter',
    output='screen',
    parameters=[
        LaunchConfiguration('filter_config'),  # loads the YAML file
        {
            'lidar_sensor_type': LaunchConfiguration('lidar_sensor_type'),
            'robot_description': ParameterValue(
                LaunchConfiguration('robot_description'),
                value_type=str
            ),
            'zero_for_removed_points': LaunchConfiguration('zero_for_removed_points'),
            'use_sim_time': True 
            # 'use_sim_time': LaunchConfiguration('use_sim_time') # Use the launch argument
        }
    ],
    remappings=[
        ('/robot_description', LaunchConfiguration('description_name')),
        ('/cloud_in', LaunchConfiguration('in_pointcloud_topic')),
        ('/cloud_out', LaunchConfiguration('out_pointcloud_topic')),
    ],
)


return LaunchDescription([
    description_name_arg,
    zero_for_removed_points_arg,
    lidar_sensor_type_arg,
    in_pointcloud_topic_arg,
    out_pointcloud_topic_arg,
    robot_description_arg,
    filter_config_arg,
    log_config,
    # use_sim_time_arg, # Add to launch description
    self_filter_node,
    
    # debug_urdf

])

`

Could you please explain the specific reason for this issue?