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stl error loading

asked 2011-11-01 08:01:25 -0500

Rikki gravatar image

updated 2011-11-01 10:06:34 -0500

David Lu gravatar image

I'm trying to create a Robot URDF and represent it in RVIZ and I have two problems when inserting the geometry using <mesh> (when I used simple geometries the robot's representation was ok).

If the link's <geometry> is STL extension represents only some pieces of it. Also it is the same if I try whit any of the STL files of PR2 (for example head_v0.stl), only represents some lines. Why not represent STL files well? (no errors in terminal and RVIZ)

If I transform the object to Collada (.dae) exporting with the program "Blender", for example, this is represented correctly, but in white, when the object is of a different color!.

Ubuntu 11.04, ROS diamondback, stack robot_model install.

Can anyone help me with one of the two problems?

Sorry for my English, I am Spanish and I don't write/speak english very well.

The URDF robot is not the problem, but it is:

<robot name="QuadRotor">

<link name="Base"> <visual> <geometry> <mesh filename="package://modelquad/modelvisual/Objetos_solid_edge/pelican_simplificado.stl" scale="0.0255 0.0255 0.0255"/> </geometry> <material name="verde"> <color rgba="0 1 0 1"/> </material> </visual> </link>

<link name="Brazo_1"> <visual> <geometry> <cylinder length="0.62" radius="0.0225"/> </geometry> <material name="negro"> <color rgba="0 0 0 1"/> </material> <origin rpy="0 1.57075 0" xyz="0 0 0"/> </visual> </link>

<joint name="Base_Brazo_1" type="fixed"> <parent link="Base"/> <child link="Brazo_1"/> <origin xyz="0.31 0 0"/> </joint>

</robot>

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answered 2011-11-01 10:11:30 -0500

David Lu gravatar image

If I'm understanding you correctly, when you use any STL files, you only see some lines and not the whole shape. This may be a problem with your graphics card.

If you are seeing white objects, that often means that there is no TF frame for the link. Try using a combination of JointStatePublisher and RobotStatePublisher as described in this tutorial.

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At the end I got it! Apparently the problem that appeared white pieces was not ROS. I needed to attach the texture to the object in blender (OGRE tool). Thank you very much David. (Collada Successful!!!)
Rikki gravatar image Rikki  ( 2011-11-04 04:18:46 -0500 )edit

That tutorial should include a comment about no transfer frame and the STL appearing white. That's a damn head scratcher that was driving me nuts!

rukie gravatar image rukie  ( 2019-04-05 12:16:57 -0500 )edit
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answered 2011-11-02 06:18:40 -0500

Rikki gravatar image

Thank you very much for your answers! but the objects continue in white. I'm using de display.launch of these tutorials which launch JointStatePublisher and RobotStatePublisher too.

I dont`t know what happens, if I use another PR2's objects (.dae) with my URDF and the same display.launch eveything is ok.

DISPLAY.LAUNCH:

<launch> <arg name="model"/>

    <arg name="gui" default="False" />   
    <!-- otro argumento -->

    <param name="robot_description" textfile="$(arg model)" />
    <!-- IMPORTANTE: Para cargar en rviz un Robot, es necesario incluirlo como parametro de nombre "robot_description" y el argumento leido -->

    <param name="use_gui" value="$(arg gui)"/>
<!-- otro parametro-->

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />  
<!--  Permite publicar el estado del robot al nodo tf, con lo cual robot es accesible por otros nodos que necesiten utilizarlos como ¡¡¡frame!!!= Ejes coordenados, por ejemplo RVIZ-->

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find modelquad)/modelvisual/confrvizmodelvisual.vcg" />  
    <!-- Equivalente a rosrun rviz (pkg) rviz (type) y cargar configuracion ____.vcg (name es solo para dar un nombre a la copia del nodo lanzado) -->

</launch>

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In the future, please edit your original post, rather than posting answers. Are you able to share your STL files?
David Lu gravatar image David Lu  ( 2011-11-02 09:32:29 -0500 )edit
Sorry, I am new using ROS answer. Don´t worry, at the end I got it, thanks very much.
Rikki gravatar image Rikki  ( 2011-11-05 02:46:22 -0500 )edit

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Asked: 2011-11-01 08:01:25 -0500

Seen: 1,245 times

Last updated: Nov 02 '11