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Collada (.dae) meshes with unit != "meter" broken?

asked 2015-02-16 05:27:58 -0500

andreasBihlmaier gravatar image

updated 2015-02-16 05:49:17 -0500

Dear community,

I'm having trouble with URDFs that used to work since Hydro. If they contain a collada (.dae) mesh which has <unit> with non meter units (e.g. centimeter):

--- collada_unit_meter.dae      2015-02-16 11:14:28.128423513 +0100
+++ collada_unit_centimeter.dae 2015-02-16 11:16:06.542388857 +0100
@@ -7,7 +7,7 @@
-    <unit name="meter" meter="1"/>
+    <unit name="centimeter" meter="0.01"/>
@@ -97,4 +97,4 @@
     <instance_visual_scene url="#Scene"/>
\ No newline at end of file

no mesh at all is displayed in rviz RobotModel. It seems the mesh is also ignored for MoveIt! collision checking.

Test files can be created by simply exporting the default cube as .dae in Blender. Once without modification and once with modified . These files can also be found here:

Can anybody confirm this issue?

Regards, ahb

Addition: The same meshes (with unit != meter) worked fine and continue to work fine with gazebo. Actually, I convert the .sdf to .urdf using pysdf.

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1 Answer

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answered 2015-02-16 05:41:58 -0500

updated 2015-02-16 05:45:14 -0500

Sounds like a regression to me, you should probably file a bug ticket for rviz. The fact that things ceased working also for moveit suggests a broader issue with how mesh loading works, however. Hopefully, a issue on rviz will trigger the necessary discussion of this.

While I can't confirm your issue directly, I also noticed changes in COLLADA handling between hydro and indigo. I encountered another issue where rendering didn't work in hydro, but did so in indigo (see drcsim Bitbucket #466).

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I was not sure where to file the bug (rviz, urdfdom, ...), thus I wanted to ask here before.

andreasBihlmaier gravatar image andreasBihlmaier  ( 2015-02-16 05:47:47 -0500 )edit

I can confirm this issue. Meshes get loaded fine without any error message, but nothing is displayed. Re-exporting such that the unit is meter seems to be the only remedy. These are meshes that worked fine in rviz hydro.

demmeln gravatar image demmeln  ( 2015-02-23 09:23:57 -0500 )edit

These test meshes do not work for me with current ros indigo from apt on ubuntu 14.04:

demmeln gravatar image demmeln  ( 2015-02-23 09:30:35 -0500 )edit

Against which repository should we fill a bug report?

andreasBihlmaier gravatar image andreasBihlmaier  ( 2015-02-24 02:56:24 -0500 )edit
demmeln gravatar image demmeln  ( 2015-02-24 13:55:37 -0500 )edit

Yes, please open an issue on rviz, and include what version you are using and the example repository you have linked in the original question.

William gravatar image William  ( 2015-02-25 00:47:24 -0500 )edit

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Asked: 2015-02-16 05:27:58 -0500

Seen: 803 times

Last updated: Feb 16 '15