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A ROS package for this could be convex_decomposition. This was (is?) used by the PR2 description package. It doesn't actually resample your geometry using voxels, but creates multiple convex hulls that together represent and encompass the original mesh completely.

For some packages in ROS-Industrial we've been using gaschler/bounding-mesh for this, as it just returned better results for our specific use-cases. That is not a ROS package though.

A ROS package for this could be convex_decomposition. This was (is?) used by the PR2 description package. It doesn't actually resample your geometry using voxels, but creates multiple convex hulls that together represent and encompass the original mesh completely.

Two things to note about this package: 1) it's deprecated and 2) I haven't used it, so can't comment on whether it (still) works.

I mentioned it because you specifically ask for a "ros package".

For some packages in ROS-Industrial we've been using gaschler/bounding-mesh for this, as a similar purpose, and it just returned better returns quite nice results for our specific use-cases. That It is not a ROS package though.

A ROS package for this could be convex_decomposition. This was (is?) used by the PR2 description package. It doesn't actually resample your geometry using voxels, but creates multiple convex hulls that together represent and encompass the original mesh completely.

Two things to note about this package: 1) it's deprecated (see this issue) and 2) I haven't used it, so can't comment on whether it (still) works.

I mentioned it because you specifically ask for a "ros package".

For some packages in ROS-Industrial we've been using gaschler/bounding-mesh for a similar purpose, and it returns quite nice results for our use-cases. It is not a ROS package though.