Importing an STL file into Rviz

asked 2019-03-11 18:26:05 -0500

matthewbigerton
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updated 2022-08-28 10:57:51 -0500

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I have been tasked with getting a CAD image of a human hand into Rviz for my project. I am very new to ROS and all its features. After some research I understand I have to mesh the stl file as a URDF but all the tutorials and videos I have followed are above my minuscule knowledge of ROS. The model is just a static model of a hand. I would like to know the easiest way to get my downloaded .stl file into Rviz. Any and all help is appreciated

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While URDF is one option to achieve this. It is also possible to publish a MeshMarker message with a URL of a model (STL or DAE) this option is arguably much simpler.

PeteBlackerThe3rd ( 2019-03-17 12:16:39 -0500 )edit

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answered 2022-08-20 20:30:02 -0500

vonunwerth
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Based on the visualization_msgs markers of RViz I wrote a small package that makes it easy to load meshes into RViz as textured objects.

It simply loads all files which were put inside its meshes folder and publishes them to the visualization_marker topic. And even dynamically! When a new object is added to the folder, it appears (or is published) in RViz. If an object is deleted, it also disappears from the published models.

It also contains a launch file which just takes everything which is inside the meshes folder, opens up RViz with a suitable perspektive and visualizes the 3D files.

Just check it out here: https://github.com/vonunwerth/RVizMes...

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