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I am learning URDF, when I tried making a sphere;
<?xml version="1.0"?>
<robot name="myfirst">
<link name="base_link">
<visual>
<geometry>
<sphere radius="1.0"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
</link>
</robot>
All I get is something more like a polyhedra;
Is there any way to get a better sphere ?
I'm also not aware of a way to change the tesselation of the built-in primitives in rviz. Using an external mesh works fine, however. I've used the default sphere you can add in Blender (32 segments, 16 rings) for the image below. I scaled it and set it to smooth shading (and converted to triangles before exporting to .dae to prevent bugs as mentioned here).
Gazebo on the left, rviz on the right:
/edit: Two versions of a COLLADA sphere are available here. One is using 32 segments/16 rings, the other 16 segments/8 rings.
As far as I'm aware, there is not - at least not with the Gazebo default shapes. You could create your own mesh file and use that instead.
Asked: 2012-01-29 18:20:25 -0500
Seen: 7,254 times
Last updated: Jan 30 '12
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