stl error loading

asked 2011-11-01 08:01:25 -0600

Rikki

90 ●7 ●8 ●14

updated 2011-11-01 10:06:34 -0600

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

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>

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answered 2011-11-01 10:11:30 -0600

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

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 ( 2011-11-04 04:18:46 -0600 )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 ( 2019-04-05 12:16:57 -0600 )edit

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answered 2011-11-02 06:18:40 -0600

Rikki

90 ●7 ●8 ●14

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:

    <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 Â¡Â¡Â¡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 ( 2011-11-02 09:32:29 -0600 )edit

Sorry, I am new using ROS answer. Don´t worry, at the end I got it, thanks very much.

Rikki ( 2011-11-05 02:46:22 -0600 )edit

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