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With regards to the assimp errors, I had the same error while creating a shapes::Mesh from an stl file. I tried Gil's solution of changing the first word "robot", but I still had the same error. It might have had to do with the encoding gedit did when saving the binary file.
In either case, the only way I got it to work was to use a dae instead of the stl. I just used meshlab to do the conversion.
-running ROS Fuerte on Ubuntu 12.04
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