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PI Robot upper_base_link not showing in Rviz

asked 2018-03-29 15:59:37 -0500

MechLc gravatar image

Hello all! I am having a minor issue in Rviz not displaying a link in Rviz. As you can see in the images the robot seems to be floating but in reality in my URDF files it is connected. image description image description

URDF: <robot name="pi_robot">

<!-- * * * Link Definitions * * * -->

<link name="base_link">
    <visual>
        <origin xyz="0 0 0.0425" rpy="0 0 0"/>
        <geometry>
            <box size="0.32 0.26 0.085"/>
        </geometry>
        <material name="Cyan1">
            <color rgba="0 0.9 0.9 1.0"/>
        </material>
    </visual>   
</link>

<link name="base_laser">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.025" length="0.07"/>
        </geometry>
        <material name="Black1">
            <color rgba="0.2 0.2 0.2 1.0"/>
        </material>
    </visual>   
</link>

<link name="cpu_link">
    <visual>
        <origin xyz="0 0 0.035" rpy="0 0 0"/>
        <geometry>
            <box size="0.19 0.19 0.07"/>
        </geometry>
        <material name="Cyan2">
            <color rgba="0 0.7 0.7 1.0"/>
        </material>
    </visual>   
</link>

<link name="upper_base_link">
    <visual>
        <origin xyz="0 0 0.05" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.085" length="0.10"/>
        </geometry>
        <material name="Cyan3">
            <color rgba="0 0.5 0.5 0"/>
        </material>
   </visual>
</link>

<link name="torso_link">
    <visual>
        <origin xyz="0 0 0.12" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.05" length="0.24"/>
        </geometry>
        <material name="Yellow2">
            <color rgba="0.8 0.8 0 1.0"/>
        </material>
   </visual>
</link>

<link name="head_pan_link">
    <visual>
        <origin xyz="0 0 0.0225" rpy="0 0 0"/>
        <geometry>
            <box size="0.05 0.045 0.045"/>
        </geometry>
        <material name="Green1">
            <color rgba="0 1 0 1.0"/>
        </material>
   </visual>
</link>

<link name="head_tilt_link">
    <visual>
        <origin xyz="0 0 0.02" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.038 0.04"/>
        </geometry>
        <material name="Green2">
            <color rgba="0.1 0.8 0 1.0"/>
        </material>
   </visual>
</link>

<link name="neck_link">
    <visual>
        <origin xyz="0 0 0.021" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.05 0.042"/>
        </geometry>
        <material name="Green3">
            <color rgba="0.1 0.5 0.1 1.0"/>
        </material>
   </visual>
</link>

<link name="head_link">
    <visual>
        <origin xyz="0 0 0.025" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.07 0.11"/>
        </geometry>
        <material name="Grey1">
            <color rgba="0.9 0.9 0.9 1.0"/>
        </material>
   </visual>
</link>

<link name="antenna_link">
    <visual>
        <origin xyz="0 0 0.035" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.002" length="0.05"/>
        </geometry>
        <material name="Grey3">
            <color rgba="0.8 0.8 0.8 1.0"/>
        </material>
   </visual>
</link>

<link name="left_shoulder_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.025 0.015 0.05"/>
        </geometry>
        <material name="Green1">
            <color rgba="0 1 0 1.0"/>
        </material>
   </visual>
</link>

<link name="right_shoulder_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.025 0.015 0.05"/>
        </geometry>
        <material name="Green1">
            <color rgba="0 1 0 1.0 ...
(more)
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Comments

Which element/link do you think should be there?

David Lu gravatar image David Lu  ( 2018-03-30 12:27:48 -0500 )edit

Should be upper_base_link

MechLc gravatar image MechLc  ( 2018-04-02 09:41:43 -0500 )edit

1 Answer

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answered 2018-04-03 09:12:14 -0500

David Lu gravatar image

The problem is the color

    <material name="Cyan3">
        <color rgba="0 0.5 0.5 0"/>
    </material>

The alpha value is set to 0, meaning transparent. Try

    <material name="Cyan3">
        <color rgba="0 0.5 0.5 1.0"/>
    </material>
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Comments

How did i not see that lol Thanks to much!

MechLc gravatar image MechLc  ( 2018-04-03 09:22:30 -0500 )edit

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Asked: 2018-03-29 15:59:37 -0500

Seen: 72 times

Last updated: Apr 03 '18