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Material urdf

asked 2014-09-11 04:24:34 -0600

arennuit gravatar image

Hello,

I have a urdf which does not display its material correctly, here is the code:

<link name="chassis" >
  <visual>
    <geometry>
      <box size="${sheet_sx} ${sheet_sy} ${sheet_sz}" />
    </geometry>
    <origin xyz="0.0 0.0 ${(chassis_sz + sheet_sz) / 2.0}" rpy="0.0 0.0 0.0" />
    <material name="myColor">
      <color rgba="0.0 0.0 1.0 1.0"/>
    </material>
  </visual>
  <collision>
    <geometry>
      <box size="${chassis_sx} ${chassis_sy} ${chassis_sz}" />
    </geometry>
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
  </collision>
  <xacro:box_inertia sizeX="${chassis_sx}" sizeY="${chassis_sy}" sizeZ="${chassis_sz}" mass="${mb_mass - sheet_mass - 4 * wheel_mass}">
    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
  </xacro:box_inertia>
</link>

The box should be blue and it is actually white in gazebo (it is red in RViz for some reason I do not know).

I tried many different ways to define the material (in a separate file, at the beginning of the file...) nothing seems to work.

I am using precise with hydro.

Any idea?

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answered 2014-09-12 03:04:58 -0600

arennuit gravatar image

updated 2014-09-12 03:06:40 -0600

I found what is going on: you actually need to specify the same material twice, for urdf on the one side and for sdf on the other side (redundant material specification for ros/urdf on the one hand and gazebo/sdf on the other hand because these are not compatible). Check document Using a URDF in Gazebo for more details.

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Asked: 2014-09-11 04:24:34 -0600

Seen: 511 times

Last updated: Sep 12 '14