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Hi all,
I'm trying to add objects to the household database downloaded from willow garage. However, i don't know how to add the objects to the database. The API documentation of household_objects_database mention a PLYModelLoader class, but i'm unable to find it in my ROS files. My ROS version is cturtle 1.2.4 .
Any idea how to do this ?
Best regards,
Guido
You should update to atleast Diamondback, and checkout the source file https://code.ros.org/svn/wg-ros-pkg/stacks/object_manipulation/trunk/household_objects_database/src/mesh_loader.cpp
Try using this as a template to move forward.
After upgrading to diamondback, also take a look at the insert_model.cpp node in the household_objects_database package. It is somewhat crude and not well parameterized, but should have all the info needed.
As a note, insert_model will try to copy the geometry file to a location specified in the database itself, by the MODEL_ROOT entry in the "variables" table. Change that to point to somewhere in your filesystem before trying insert_model.
Asked: 2011-04-01 02:34:30 -0500
Seen: 393 times
Last updated: Jun 20 '11
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