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I noticed some extra contacts between the wheels (see photo), is something other than the wheel supposed to be touching the ground?

image description

I noticed some extra contacts on the ground between the wheels (see ~~photo~~photo below), is something other than the wheel supposed to be touching the ground?

image description

I noticed some extra contacts on the ground between the wheels (see photo below), turns out the laptop_structure.dae is ~~something other than the wheel supposed to be~~ touching the ~~ground?~~ground (if you enable the bounding box under view).

image description

replacing laptop_structure.dae under collision with a small box fixed the problem, but I suspect something might have gone awry with the assimp dae mesh loader.

<?xml version="1.0"?>
<robot
  xmlns:xacro="http://ros.org/wiki/xacro">

  <include filename="$(find kurt_description)/parts/sick_lms200.urdf.xacro" />

  <link name="laptop_structure">
    <visual>
      <geometry>
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <!--
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
        -->
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.0" />
      <origin xyz="-0.005401183 0.0 0.141356018" />
      <inertia ixx="0.022277280" ixy="-0.000000004" ixz="-0.001009999" 
        iyy="0.017783837" iyz="0.0" 
        izz="0.025523417" />
    </inertial>
  </link>

  <joint name="top_to_structure" type="fixed">
    <parent link="base_link" />
    <child link="laptop_structure" />
    <origin xyz="-0.05 0 0.03" rpy="0 0 0" />
  </joint>

  <joint name="structure_to_laser" type="fixed">
    <parent link="laptop_structure" />
    <child link="laser" />
    <origin xyz="0.195 0 0.08" rpy="0 0 0" />
  </joint>
</robot>

I noticed some extra contacts on the ground between the wheels (see photo below), turns out the laptop_structure.dae is touching the ground (if you enable the bounding box under view).

image description

replacing laptop_structure.dae under collision with a small box fixed the problem, but I suspect something might have gone awry with the assimp dae mesh loader.

<?xml version="1.0"?>
<robot
  xmlns:xacro="http://ros.org/wiki/xacro">

  <include filename="$(find kurt_description)/parts/sick_lms200.urdf.xacro" />

  <link name="laptop_structure">
    <visual>
      <geometry>
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <!--
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
        -->
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.0" />
      <origin xyz="-0.005401183 0.0 0.141356018" />
      <inertia ixx="0.022277280" ixy="-0.000000004" ixz="-0.001009999" 
        iyy="0.017783837" iyz="0.0" 
        izz="0.025523417" />
    </inertial>
  </link>

  <joint name="top_to_structure" type="fixed">
    <parent link="base_link" />
    <child link="laptop_structure" />
    <origin xyz="-0.05 0 0.03" rpy="0 0 0" />
  </joint>

  <joint name="structure_to_laser" type="fixed">
    <parent link="laptop_structure" />
    <child link="laser" />
    <origin xyz="0.195 0 0.08" rpy="0 0 0" />
  </joint>
</robot>

alternatively, loading laptop_structure.dae with meshlab and saving as a stl, then modifying collision to use the stl (keep visual with dae for better aesthetics) also fixes this problem.

I noticed some extra contacts on the ground between the wheels (see photo below), turns out the laptop_structure.dae is touching the ground (if you enable the bounding box under view).

image description

replacing laptop_structure.dae under collision with a small box fixed the problem, but I suspect something might have gone awry with the assimp dae mesh loader.

<?xml version="1.0"?>
<robot
  xmlns:xacro="http://ros.org/wiki/xacro">

  <include filename="$(find kurt_description)/parts/sick_lms200.urdf.xacro" />

  <link name="laptop_structure">
    <visual>
      <geometry>
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <!--
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
        -->
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.0" />
      <origin xyz="-0.005401183 0.0 0.141356018" />
      <inertia ixx="0.022277280" ixy="-0.000000004" ixz="-0.001009999" 
        iyy="0.017783837" iyz="0.0" 
        izz="0.025523417" />
    </inertial>
  </link>

  <joint name="top_to_structure" type="fixed">
    <parent link="base_link" />
    <child link="laptop_structure" />
    <origin xyz="-0.05 0 0.03" rpy="0 0 0" />
  </joint>

  <joint name="structure_to_laser" type="fixed">
    <parent link="laptop_structure" />
    <child link="laser" />
    <origin xyz="0.195 0 0.08" rpy="0 0 0" />
  </joint>
</robot>

alternatively, loading laptop_structure.dae with meshlab and saving it as a ~~stl,~~ stl mesh, then modifying urdf collision to use the new stl (keep visual with dae for better aesthetics) also fixes this problem.

This deserves a ticket.

I noticed some extra contacts on the ground between the wheels (see photo below), turns out the laptop_structure.dae is touching the ground (if you enable the bounding box under view).

image description

replacing laptop_structure.dae under collision with a small box fixed the problem, but I suspect something might have gone awry with the assimp dae mesh loader.

<?xml version="1.0"?>
<robot
  xmlns:xacro="http://ros.org/wiki/xacro">

  <include filename="$(find kurt_description)/parts/sick_lms200.urdf.xacro" />

  <link name="laptop_structure">
    <visual>
      <geometry>
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <!--
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
        -->
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.0" />
      <origin xyz="-0.005401183 0.0 0.141356018" />
      <inertia ixx="0.022277280" ixy="-0.000000004" ixz="-0.001009999" 
        iyy="0.017783837" iyz="0.0" 
        izz="0.025523417" />
    </inertial>
  </link>

  <joint name="top_to_structure" type="fixed">
    <parent link="base_link" />
    <child link="laptop_structure" />
    <origin xyz="-0.05 0 0.03" rpy="0 0 0" />
  </joint>

  <joint name="structure_to_laser" type="fixed">
    <parent link="laptop_structure" />
    <child link="laser" />
    <origin xyz="0.195 0 0.08" rpy="0 0 0" />
  </joint>
</robot>

alternatively, loading laptop_structure.dae with meshlab and saving it as a stl mesh, then modifying urdf collision to use the new stl (keep visual with dae for better aesthetics) also fixes this problem.

This deserves a ticket.

I noticed some extra contacts on the ground between the wheels (see photo below), turns out the laptop_structure.dae is touching the ground ~~(if~~ view below has contacts view enabled. The problem is also visible if you also enable the bounding box visualization under ~~view).~~view.

image description

replacing laptop_structure.dae under collision with a small box fixed the problem, but I suspect something might have gone awry with the assimp dae mesh loader.

<?xml version="1.0"?>
<robot
  xmlns:xacro="http://ros.org/wiki/xacro">

  <include filename="$(find kurt_description)/parts/sick_lms200.urdf.xacro" />

  <link name="laptop_structure">
    <visual>
      <geometry>
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <!--
        <mesh filename="package://kurt_description/meshes/laptop_structure.dae" />
        -->
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.0" />
      <origin xyz="-0.005401183 0.0 0.141356018" />
      <inertia ixx="0.022277280" ixy="-0.000000004" ixz="-0.001009999" 
        iyy="0.017783837" iyz="0.0" 
        izz="0.025523417" />
    </inertial>
  </link>

  <joint name="top_to_structure" type="fixed">
    <parent link="base_link" />
    <child link="laptop_structure" />
    <origin xyz="-0.05 0 0.03" rpy="0 0 0" />
  </joint>

  <joint name="structure_to_laser" type="fixed">
    <parent link="laptop_structure" />
    <child link="laser" />
    <origin xyz="0.195 0 0.08" rpy="0 0 0" />
  </joint>
</robot>

alternatively, loading laptop_structure.dae with meshlab and saving it as a stl mesh, then modifying urdf collision to use the new stl (keep visual with dae for better aesthetics) also fixes this problem.

This deserves a ticket.

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