andreasBihlmaier's profile - activity

Done: https://github.com/ros-visualization/...

Against which repository should we fill a bug report?

I was not sure where to file the bug (rviz, urdfdom, ...), thus I wanted to ask here before.

Dear community,

I'm having trouble with URDFs that used to work since Hydro. If they contain a collada (.dae) mesh which has <unit> with non meter units (e.g. centimeter):

--- collada_unit_meter.dae      2015-02-16 11:14:28.128423513 +0100
+++ collada_unit_centimeter.dae 2015-02-16 11:16:06.542388857 +0100
@@ -7,7 +7,7 @@
     </contributor>
     <created>2015-02-16T11:14:28</created>
     <modified>2015-02-16T11:14:28</modified>
-    <unit name="meter" meter="1"/>
+    <unit name="centimeter" meter="0.01"/>
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
@@ -97,4 +97,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>

no mesh at all is displayed in rviz RobotModel. It seems the mesh is also ignored for MoveIt! collision checking.

Test files can be created by simply exporting the default cube as .dae in Blender. Once without modification and once with modified . These files can also be found here: https://gist.github.com/andreasBihlma...

Can anybody confirm this issue?

Regards, ahb

Addition: The same meshes (with unit != meter) worked fine and continue to work fine with gazebo. Actually, I convert the .sdf to .urdf using pysdf.

I can confirm that uvc_camera works well for stereo with independent usb webcams.

I use a combination of converting .urdf to .sdf and custom cmake targets. From the CMakeLists.txt

install(DIRECTORY meshes/
    DESTINATION $ENV{HOME}/.gazebo/models/lwr_description/meshes
)
set(lwrs
  lwr1
  lwr2
)

foreach(lwr ${lwrs})
  set(dir ${CMAKE_CURRENT_SOURCE_DIR}/models/${lwr})
  install(DIRECTORY ${dir} DESTINATION $ENV{HOME}/.gazebo/models)

  add_custom_command(
    OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/urdf/${lwr}.urdf
    COMMAND rosrun
    ARGS xacro xacro ${CMAKE_CURRENT_SOURCE_DIR}/urdf/${lwr}.xacro > ${CMAKE_CURRENT_SOURCE_DIR}/urdf/${lwr}.urdf
      DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/urdf/lwr_macro.xacro ${CMAKE_CURRENT_SOURCE_DIR}/urdf/${lwr}.xacro ${CMAKE_CURRENT_SOURCE_DIR}/urdf/lwrFRI1.gazebo
  )

  add_custom_command(
    OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/models/${lwr}/model.sdf
    COMMAND gz
    ARGS sdf --print ${CMAKE_CURRENT_SOURCE_DIR}/urdf/${lwr}.urdf > ${CMAKE_CURRENT_SOURCE_DIR}/models/${lwr}/model.sdf
      DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/urdf/${lwr}.urdf ${CMAKE_CURRENT_BINARY_DIR}/${lwr}.urdf.checked
  )

  add_custom_command(
      OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${lwr}.urdf.checked
    COMMAND check_urdf
      ARGS ${CMAKE_CURRENT_SOURCE_DIR}/urdf/${lwr}.urdf > ${CMAKE_CURRENT_BINARY_DIR}/${lwr}.urdf.checked
      DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/urdf/${lwr}.urdf
  )

  add_custom_target("${lwr}sdf" ALL DEPENDS urdf/${lwr}.urdf models/${lwr}/model.sdf)
endforeach()

Inside the .urdf (or .xacro) the meshes are referenced as

<mesh filename="package://lwr_description/meshes/link0_mq_dh.dae"/>

which results in the following inside the .sdf (as converted by gz sdf --print):

<uri>model://lwr_description/meshes/convex/link0_lq_dh.dae</uri>

This way you do not have to model anything twice and can add everything through the usual gazebo mechanisms (i.e. <include> in a .world file) or add it through GUI or ROS topics ...

Node for this job, I have in daily use: https://github.com/andreasBihlmaier/a...

Glad to have been of help. I'll still open an issue at the gazebo issue tracker.

I have not yet investigated the source of this issue, but for me the problem results from

• not having a directional light source in the world

and/or

• having the world's shadows disabled