Colladafile (.dae) in RViz2/MoveIt!2 Can't assign material

asked 2021-11-04 05:57:25 -0600

FlorianSp gravatar image

updated 2021-11-04 05:58:51 -0600

I have tried to add a Colladafile in MoveIt! as Collision Object Mesh and it works in general, but I get Errors (shown below) and they causes problems with my UR ROS2 Driver.

[move_group-1] [INFO] [1636021834.480270700] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1636021834.480385100] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [INFO] [1636021834.481279500] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-1] [INFO] [1636021834.481412600] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [INFO] [1636021834.482428200] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator[PRMkConfigDefault]' will use planner 'geometric::PRM'. Additional configuration parameters will be set when the planner is constructed.
[rviz2-3] [ERROR] [1636021834.482825500] [rviz2]: Can't assign material Shape234Material to the ManualObject MeshShape_ManualObject128 because this Material does not exist in group General. Have you forgotten to define it in a .material script?
[....]
[move_group-1] [INFO] [1636021852.522920600] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller joint_trajectory_controller successfully finished
[rviz2-3] [ERROR] [1636021852.523460600] [rviz2]: Can't assign material Shape258Material to the ManualObject MeshShape_ManualObject152 because this Material does not exist in group General. Have you forgotten to define it in a .material script?
[move_group-1] [INFO] [1636021852.528985900] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-1] [INFO] [1636021852.529140000] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: SUCCEEDED
[rviz2-3] [ERROR] [1636021852.739891100] [rviz2]: Can't assign material Shape259Material to the ManualObject MeshShape_ManualObject153 because this Material does not exist in group General. Have you forgotten to define it in a .material script?
[rviz2-3] [INFO] [1636021852.901360200] [move_group_interface]: Execute request success!

The Error with Can't assign Material appears 20 times or more for every motion planning and causes slow movement of the Robot URSim or a jumping back in RViz showing a wrong state of the Robot.

Is there a possibility to add these Material? I haven't add any material in the Colladafile or so. I will show a snippet of the File below.

<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
    <asset>
        <contributor>
            <author>...</author>
            <authoring_tool>...</authoring_tool>
        </contributor>
        <created>Do Sep 2 10:19:34 2021 GMT</created>
        <modified>Do Sep 2 10:19:34 2021 GMT</modified>
        <up_axis>Y_UP</up_axis>
    </asset>
    <library_geometries>
        <geometry id="shape0-lib" name="shape0">
            <mesh>
                <source id="shape0-lib-positions" name="position">
                    <float_array id="shape0-lib-positions-array" count="215955">7.4714 -0.335849 -1.92053 7.4738 -0.348579 -1.92075 7.4938 -0.336951 -1.97111 7.47122 -0.346548 -2.01391 7.4714 -0.346368 -2.01311 7.4758 -0.328366 -1.92185 7.47533 -0.328333 -1.9217 7.4738 -0.382964 -2.03732 7.4758 -0.391037 -2.04655 7.4742 -0.389825 -2.04274 7.47428 -0.357563 -2.05207 7.4938 -0.334499 -1.9492 7.4714 -0.389069 -2.00559 7.4776 -0.326184 -1.92224 7.4938 -0.332132 -1.94962 7.4938 -0.339317 -1.97069 7.4938 -0.382138 -1.94081 7.4938[....]</float_array>
                    <technique_common>
                        <accessor count="71985" source="#shape0-lib-positions-array" stride="3">
                            <param name="X" type="float"/>
                            <param ...
(more)
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Comments

1

Please take a look at prior question: https://answers.ros.org/question/3335...

A solution is to use Blender to add material and save it back as .dae file

osilva gravatar image osilva  ( 2021-11-04 06:50:38 -0600 )edit

Thanks for your answer. I have added a Base Color with Principled BSDF in Blender, but the error still exits. Do you have another idea @osilva ? Is there anything else in Blender to consider in blender? I am very new to this tool.

FlorianSp gravatar image FlorianSp  ( 2021-11-05 02:23:05 -0600 )edit

Unfortunately @FlorianSp I don't use Blender very often either. I suggest that you ask your question in gazebosim forum as there might more people to help with this issue. I found this in one of the question. Hope you find an answer soon: https://answers.gazebosim.org//questi...

osilva gravatar image osilva  ( 2021-11-05 05:44:31 -0600 )edit