ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

URDF and URI's

asked 2011-12-13 07:30:01 -0500

Constantin S gravatar image

updated 2011-12-14 07:41:18 -0500

David Lu gravatar image

Hello all, I am having some trouble loading a model supplied by a colleague in rviz. For my own interests, I wish to be able to load a urdf which is not part of a ros package. Thus, everywhere where it was written:

 <mesh filename="package://derp/meshes/zmp.stl" />

I replaced with:

 <mesh filename="file://home/constantin/workspace/OpenRAVE/data/cRoNA/meshes/zmp.stl" />

and then afterwards

 <mesh filename="file:///home/constantin/workspace/OpenRAVE/data/cRoNA/meshes/zmp.stl" />

Well both of those didn't work, I still got the following errors:

[ERROR] [1323810997.737214696]: Error retrieving file [/home/constantin/workspace/OpenRAVE/data/cRoNA/meshes/zmp.stl]: <url> malformed
[ERROR] [1323810997.737386409]: Could not load model 
     '/home/constantin/workspace/OpenRAVE/data/cRoNA/meshes/zmp.stl' for link 'zmp': OGRE 
     EXCEPTION(6:FileNotFoundException): Cannot locate resource  
     /home/constantin/workspace/OpenRAVE/data/cRoNA/meshes/zmp.stl in resource group 
     Autodetect or any other group. in ResourceGroupManager::openResource at /tmp/buildd/ros-
     3/OgreMain/src/OgreResourceGroupManager.cpp (line 753)

Could anyone give me some tips on what I am doing wrong? A link to expanded documentation would be great as well, the Resource Retriever page is quite empty. Thank you so much!

edit retag flag offensive close merge delete


The "Error retrieving file [/home/constantin/workspace/OpenRAVE/data/cRoNA/meshes/zmp.stl]: <url> malformed" line looks like you actually specified "<mesh filename="/home/constantin/workspace/OpenRAVE/data/cRoNA/meshes/zmp.stl" />". The file:// prefix seems to be mandatory though.
Stefan Osswald gravatar image Stefan Osswald  ( 2011-12-13 21:10:58 -0500 )edit
Oh my, I hope I didn't forget to update my robot_description parameter with the new xml... Let me try again.
Constantin S gravatar image Constantin S  ( 2011-12-14 01:03:57 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2011-12-13 21:09:21 -0500

Stefan Osswald gravatar image

I think there is a bug in urdf_parser that prevents it from opening files specified by a file:// URL. I filed a bug report: ticket 5297

After applying the patch I posted there, I can load URDFs with file:// paths into rviz.

edit flag offensive delete link more

Question Tools


Asked: 2011-12-13 07:30:01 -0500

Seen: 3,540 times

Last updated: Dec 13 '11