rviz PlanningScene: weird transparency of CollisionObjects

asked 2017-10-13 07:00:00 -0500

Managarm gravatar image

updated 2017-10-13 07:03:55 -0500

Hello there!

So, the rviz visualization of the motion-planning's PlanningScene does this weird thing where it looks like all the face-normals are flipped (see image below). They are not flipped though - I checked by inverting the triangles' winding order when loading the meshes.

Weird CollisionObject transparency

Basically all surfaces are semi-transparent. How can I change this? I tried STL, DAE and OBJ files (models I made as well as some models from thingiverse), but textures seem to be ignored.

Thanks in advance, ~

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Can you check whether you're not running into what is described in #q264389? Check also the link to the GH issue.

gvdhoorn gravatar image gvdhoorn  ( 2017-10-13 07:24:45 -0500 )edit

While the linked issue seems more like a numerical problem,I believe my problem could be related to the z-buffer bug mentioned on GitHub. Which is odd,since the issue doesn't appear if I publish the models as markers. I'd still like to use textures instead if possible,even if they're see-through.

Managarm gravatar image Managarm  ( 2017-10-13 08:13:54 -0500 )edit