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URDF and Paths to Collada

asked 2022-04-04 20:27:14 -0500

jackfrye gravatar image

I am trying to write and URDF file that uses my mechanical CAD models. I have converted my mechanical model to a collada (.dae) file. My launch file parses the URDF to XML and publishes it to /robot_description. This is the subsection my URDF for the link I want to model with my mesh.

<link name="robot_body">
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <geometry>
      <mesh filename="./polou_4801_body.dae"/>
    </geometry>
    <material name="blue"/>
  </visual>
  <collision>
    <geometry>
      <mesh filename="./polou_4801_body.dae"/>
    </geometry>
   </collision>
   </link>

From there I add a robot model to RVIZ and point it to the robot descriptions at which point it balks out and fails with

[ERROR] [1649121599.466978255] [rviz2]: Could not load resource [./polou_4801_body.dae]: Unable to open file "./polou_4801_body.dae".

This seems like a simple problem of misplaced paths. I am new to colcon and am not sure to tell it during build to publish files to a specific place and then how to reference them from the URDF.

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answered 2022-04-05 19:15:48 -0500

jackfrye gravatar image

See https://answers.ros.org/question/3911...

Would be better if I could figure out how to link to it with package:// rather than file:// but the file:// way works fine.

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Asked: 2022-04-04 20:27:14 -0500

Seen: 35 times

Last updated: Apr 04