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URDF Mesh filetypes?

asked 2016-04-10 20:23:57 -0500

eyn2 gravatar image

What are all the possible filetypes I can use in the <geometry>, <mesh ...=""/> tag? I'm actually trying to use another URDF file as a mesh filetype, but it doesn't seem to be possible.

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answered 2016-04-11 01:37:36 -0500

gvdhoorn gravatar image

I can't find a proper reference for it right now, but the mesh formats supported by RViz at least are (from wiki/rviz/DisplayTypes/Marker - The Marker Message - Object Types - Mesh Resource):

Can be any mesh type supported by rviz (binary .stl or Ogre .mesh in 1.0, with the addition of COLLADA (.dae) in 1.1) [..]

So: stl, dae and mesh.

I'm actually trying to use another URDF file as a mesh filetype, but it doesn't seem to be possible.

No, it's not. If you are trying to 'make multiple copies' of a single model (fi to create four legs or two identical arms), then you should take a look at xacro, which would allow you to instantiate multiple instances of a single macro (template) and connect it to the right place(s) in your urdf.

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Xacro seems to be exactly what I'm looking for! Thank you for your answer

eyn2 gravatar imageeyn2 ( 2016-04-11 01:56:24 -0500 )edit

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Asked: 2016-04-10 20:23:57 -0500

Seen: 851 times

Last updated: Apr 11 '16