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household_database visualization

asked 2011-04-14 21:12:04 -0500

cmsoda gravatar image

updated 2011-06-17 10:34:26 -0500

kwc gravatar image

Hi all, I am trying to visualize with rviz the objects triangle mesh stored in the database. I call the household database GetModelMesh service and I put the returned points in a Marker for rviz visualization. I have noticed that every time I call the service GetModelMesh the value for mesh type is 0 which should be sphere. If I send the mesh vertices extracted to rviz and I set the marker type as sphere I always get the same sphere shape. Maybe I am missing something. How can I save the triangle mesh in a marker? It is correct that I get always a 0 as type from the GetModelMesh even if I change the object Id? Thanks

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answered 2011-07-22 08:43:36 -0500

If you just want to see them you can try spawning the objects in gazebo. I have urdfs for them here: http://people.csail.mit.edu/mitko/gazebo_stuff/household/urdf/ make sure to turn off shadows in gazebo though - you might get an error similar to this: http://answers.ros.org/question/1550/shadows-of-the-household-objects-in-gazebo

Here are also some useful RVIZ markers (which you have probably seen already) http://www.ros.org/wiki/pr2_tabletop_manipulation_apps/Troubleshooting

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Also, the fact that the returned shape type is always 0 is a bug, which has been fixed for upcoming releases. The type should be 3, for MESH.
Matei Ciocarlie gravatar image Matei Ciocarlie  ( 2011-07-22 09:42:43 -0500 )edit

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Asked: 2011-04-14 21:12:04 -0500

Seen: 421 times

Last updated: Jul 22 '11