Hi all,

Now I'm writing textured 3D model exporter using colladadom. The goal of my work is to display textured mesh on rviz.

I tried to use MESHRESOURCES of visualizationmarker and it succeeded using collada 1.4 files, but it failed using collada 1.5, with following errors:

[ERROR] [1353654675.186652693]: Could not load resource [package://jskenvironmentmodelcreator/data1.5/Seymour.dae]: Collada: package://jskenvironmentmodelcreator/data1.5/Seymour.dae - Expected start of "source" element.

In this case I used test/1.5/data/Seymour.dae in original collada_dom.

Unfortunately, colladadom package of ros fuerte only contains 1.5 schema. I think it is easy way to install another collada_dom with 1.4 schema, but I'm afraid it will break portability of my codes.

Does anyone have good idea to display textured mesh on rviz with collada 1.5?

Thanks,

Hiroaki

---

According to the comment, I tried to use orrosplanning colladarvizdisplay.launch, but unable to display Seymour.dae with following errors;

Traceback (most recent call last):
File "/home/leus/ros/electric/jsk-ros-pkg/openrave_planning/orrosplanning/collada_joint_publisher.py", line 80, in <module> 
    jsp = ColladaJointPublisher() 
File "/home/leus/ros/electric/jsk-ros-pkg/openrave_planning/orrosplanning/collada_joint_publisher.py", line 31, in __init__ 
    self.env.AddRobot(self.robot) 
openravepy._openravepy_.openravepy_ext.openrave_exception: openrave (Failed): [void PyEnvironmentBase::AddRobot(PyRobotBasePtr):664]: invalid pointer 
[collada_joint_publisher-1] process has died [pid 7242, exit code 1]. log files: /home/leus/.ros/log/14ca984c-3767-11e2-92aa-00237de70062/collada_joint_publisher-1*.log

In addition, following example runs correctly and HIRO-NX model is displayed.

roslaunch orrosplanning collada_rviz_display.launch model:=`rospack find collada_robots`/data/robots/kawada-hironx.dae

"colladarvizdispaly.launch" publish .dae file as Robot Model using OpenRAVE. So "Seymour.dae" can not be visualize with it because OpenRAVE can not read this as Robot Model.