geometric_shapes
- Software
- Robot arms and industry
- Library
A ROS package providing generic geometric shape and body definitions, plus routines for point containment and ray intersection on shapes and shape messages.
Made by MoveIt.
Source on GitHub: github.com/moveit/geometric_shapes (opens in a new tab). Facts read at commit 0c165d8 (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 0c165d8 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Defines shapes for sphere, box, cone, cylinder and mesh.
- Bodies are shapes placed at a particular pose.
- Provides point containment and ray intersection routines for bodies.
- Mesh bodies use the convex hull of the mesh for these routines.
- Merges the former shape_tools package into this one.
- Renames some Box and ConvexMesh members in the codebase.
Written by Robotheca from the project's README (opens in a new tab) at commit 0c165d8.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 19 Jul 2026 on ros2
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.