Are meshes in a urdf limited to a number of faces?
Are meshes like .stls and .daes limited in the number of faces so that a urdf will be loaded properly in rviz?
ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Theoretically: no.
Practically: yes.
There is no hard-coded limit to the size of meshes in RViz -- or more precisely: in Assimp, which is what RViz uses to load meshes.
Practically though, loading times will increase and framerates will start to drop for larger meshes, but it's hard to put an exact number of faces on that, as it's largely hardware dependent.
Perhaps also important: loading a urdf is (almost) separate from loading the meshes. Many consumers of .urdf
s will load the XML, but will not bother with loading the meshes.
PS: also be aware that RViz is not the only consumer of URDFs. And it's also not special.
Consumers such as MoveIt for instance load the same data, and there collision checking performance is highly dependent on the number of faces in a mesh (as without capsules, collision checking will be face-based).
Asked: 2021-08-12 03:36:49 -0500
Seen: 75 times
Last updated: Aug 12 '21
Linking the URDF to a writing robot.
How can I use object pose estimation to pick up an object in Moveit?
PCL complains no member functions
Time is out of dual 32-bit range vrep_ros_bridge simulation
Invoking "make cmake_check_build_system" failed
Got permission denied while trying to connect to Docker Daemon
How can I save file in a folder from selecting the path from launchfile
ROS WARN Could not process inbound connection: topic types do not match