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arm_navigation package (lack of) scaling issue from urdf files

asked 2011-12-13 02:18:12 -0500

shart115 gravatar image

Hi, I tried getting the arm_navigation tool running with my custom (non-PR2) robot .urdf file and had some issues. The biggest (literally) issue was that my .urdf file uses .stl mesh files that are in inches that are manually scaled to meters. For example:

<mesh filename="package://left_arm.stl" scale=".0254 .0254 .0254"/>

0.0254, being the inches-to-meters scale factor.

Now this all works fine in rviz and gazebo and whatever, but when I run the arm_navigation stack, things go a little crazy---at least in the display. I think the motion planner pieces are working fine, but if you run the planning_components_visualizer tool or the initial wizard to set things up, the green and pink overlays are at the original scale (and thus gigantic).

Anybody seen, or aware of this?

Thanks, Steve

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3 Answers

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answered 2011-12-13 03:45:42 -0500

David Lu gravatar image

updated 2011-12-13 03:46:32 -0500

Yeah, I encountered the same problem.

Relevant Bug Report

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answered 2012-01-07 13:11:04 -0500

Dave Coleman gravatar image

I am having this same issue. I had to convert my model from m to mm using scale:

scale=".001 .001 .001"

Any progress on this bug fix? Thanks!

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@Dave Coleman I suggest that you follow up on the ticket.
tfoote gravatar image tfoote  ( 2012-01-07 16:36:33 -0500 )edit

answered 2011-12-28 04:23:05 -0500

egiljones gravatar image

The scale is being correctly applied for collision checking purposes - and thus all your arm navigation components should work correctly. The scale is not being applied to the markers that are sent to rviz, thus making things seem giant. We'll release a bug fix into electric soon.

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Asked: 2011-12-13 02:18:12 -0500

Seen: 977 times

Last updated: Jan 07 '12