problem with pr2 kinect model

asked 2011-12-24 09:21:28 -0500

Kadir Firat Uyanik

288 ●10 ●15 ●24 http://kadiruyanik.wor...

updated 2014-11-22 17:05:30 -0500

ngrennan
1 ●1 ●1

Hello everyone,

I am trying to launch

pr2_kinect_empty_world.launch

However, the kinect on top of the pr2 seems huge. I was able to launch the same file a few days ago, I guess something changed with the model. Anyone happen to realize similar problem?

Thanks in advance

Cheers

answered 2011-12-24 09:30:04 -0500

Kadir Firat Uyanik

288 ●10 ●15 ●24 http://kadiruyanik.wor...

updated 2011-12-24 09:33:03 -0500

Hi again,

I guess, I've solved the problem by comparing kinect_prosilica_camera.urdf.xacro and kinect_camera.urdf.xacro files.

It turns out mesh information wasn't scaled to the meter-scale when the kinect.dae file is generated, but mm-scale instead. It seems scaling can be done after this file is generated by adding scale="0.001 0.001 0.001" at the end of the corresponding line in the urdf files, as shown below,

<mesh filename="package://pr2_description/meshes/sensors/kinect_v0/kinect.dae" scale="0.001 0.001 0.001"/>

Probably, this has been overlooked by the developers in the recent updates.

Cheers

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Comments

If so, please file a defect ticket so they can fix it.

joq ( 2011-12-24 15:02:40 -0500 )edit

I came across with this problem again after an upgrade, and decided to open a ticket for this time. But it seems John already created a ticket for this https://code.ros.org/trac/wg-ros-pkg/changeset/54208 .

Kadir Firat Uyanik ( 2012-03-10 02:23:38 -0500 )edit

both fuerte 1.7.2 and electric 1.6.2 should have the updates, though it might take a day or two for the fuerte debs to be out.

hsu ( 2012-03-10 07:36:44 -0500 )edit

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