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Why import complicated stl file will caused problem on gazebo?

asked 2011-08-13 01:44:05 -0500

sam gravatar image

updated 2011-08-21 21:15:35 -0500

My cad translate to stl file is image description

I use meshlab to view it:

image description

But when I import to gazebo.

 sam@/home/sam/code/ros/gazebo/stl$ rosrun gazebo spawn_model -file      `pwd`/foot.urdf -urdf -model foot_model -z 100.5
 loading model xml from file
 attempting to spawn robot in simulation
 waiting for service spawn_urdf_model
 spawn status:  SpawnModel: successfully spawned model
 spawning success True

 sam@/home/sam/code/ros/gazebo/stl$

The model seems very weird even broken to parts.

image description

How to solve it? Thank you~~

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Hi Sam, is this a single STL? Multiple STL's connected by joints?
hsu gravatar image hsu  ( 2011-08-15 07:39:39 -0500 )edit
Single STL. I haven't tried Multiple STL's connected by joints.
sam gravatar image sam  ( 2011-08-15 15:03:33 -0500 )edit
you can try and import the stl file with some other mesh editors such as meshlab or wings3d (or blender if the top image was not a stl import). If things look ok there, can you post the STL file? thanks.
hsu gravatar image hsu  ( 2011-08-15 15:14:27 -0500 )edit
I have added the picture in meshlab, and I also upload the stl file: http://www.adrive.com/public/8796d1359372a369f97531afc9a972ad728f8e47d46b8746e2a3242b27619be4.html
sam gravatar image sam  ( 2011-08-21 21:27:03 -0500 )edit

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answered 2011-08-24 18:11:45 -0500

hsu gravatar image

It looks like the mesh contains faces that are not 2-manifolds. I recommend shrink-wrapping the mesh with one of the modern cad packages.

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I already use the smallest resolution option of stl export.Is there any other way to shrink-wrapping the mesh? Or how to import it to gazebo correctly?
sam gravatar image sam  ( 2011-08-24 18:17:11 -0500 )edit
what software are you using to generate STL from CAD model?
hsu gravatar image hsu  ( 2011-08-24 18:41:47 -0500 )edit
Autodesk Inventor Professional 2012.
sam gravatar image sam  ( 2011-08-25 01:34:00 -0500 )edit

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Asked: 2011-08-13 01:44:05 -0500

Seen: 1,023 times

Last updated: Aug 24 '11