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2016-06-07 08:39:09 -0500	asked a question	i'm using universal robot git in a gazebo simulator. i add a gazebo_plugin of a depth camera, by adding it to the world file (i don't want to use the arm build in camera). i want to combine their both together and after it to launch it from the rviz that the place of the camera will be exactly like it is on gazebo. how can i make it? is it by tf? or on the urdf of the arm? or something else??
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2016-05-15 10:58:09 -0500	asked a question	Creating a CollisionObject from a mesh in indigo im building a c++ code to move ur5_moveit_config on rviz, andvtrying to add a mesh into rviz with a ur5_moveit_config on it. i read some previous answers and use them to build my code. i believe my problem is at my code: moveit_msgs::CollisionObject toilet; shapes::Mesh* m = shapes::createMeshFromResource("package://home/toilet seat grubcad/toiletseat2.stl"); shape_msgs::Mesh toilet_mesh; shapes::ShapeMsg toilet_mesh_msg; shapes::constructMsgFromShape(m,toilet_mesh_msg); toilet_mesh = boost::get<shape_msgs::Mesh>(toilet_mesh_msg); toilet.meshes.resize(1); toilet.meshes[0] = toilet_mesh; toilet.mesh_poses.resize(1); toilet.mesh_poses[0].position.x = 1.0; toilet.mesh_poses[0].position.y = 1.0; toilet.mesh_poses[0].position.z = 0.0; toilet.mesh_poses[0].orientation.w= 1.0; toilet.mesh_poses[0].orientation.x= 0.0; toilet.mesh_poses[0].orientation.y= 0.0; toilet.mesh_poses[0].orientation.z= 0.0; //pub_co.publish(toilet); toilet.meshes.push_back(toilet_mesh); toilet.mesh_poses.push_back(toilet.mesh_poses[0]); toilet.operation = toilet.ADD; std::vector<moveit_msgs::CollisionObject> collision_objects; collision_objects.push_back(toilet); // Now, let's add the collision object into the world ROS_INFO("Add an object into the world"); planning_scene_interface.addCollisionObjects(collision_objects); when i'm trying to "catkin_make" the program i get: Built target move_arm_server [ 50%] Built target manipulator_gazebo_generate_messages_lisp [100%] [100%] Built target manipulator_gazebo_generate_messages_py Built target manipulator_gazebo_generate_messages_cpp [100%] Built target manipulator_gazebo_generate_messages /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:19:19: error: ‘createMeshFromResource’ is not a member of ‘shapes’ shapes::Mesh* m = shapes::createMeshFromResource("package://home/toilet seat grubcad/toiletseat2.stl"); ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:21:1: error: ‘ShapeMsg’ in namespace ‘shapes’ does not name a type shapes::ShapeMsg toilet_mesh_msg; ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:22:30: error: expected constructor, destructor, or type conversion before ‘(’ token shapes::constructMsgFromShape(m,toilet_mesh_msg); ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:23:1: error: ‘toilet_mesh’ does not name a type toilet_mesh = boost::get<shape_msgs::Mesh>(toilet_mesh_msg); ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:24:1: error: ‘toilet’ does not name a type toilet.meshes.resize(1); ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:25:1: error: ‘toilet’ does not name a type toilet.meshes[0] = toilet_mesh; ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:26:1: error: ‘toilet’ does not name a type toilet.mesh_poses.resize(1); ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:27:1: error: ‘toilet’ does not name a type toilet.mesh_poses[0].position.x = 1.0; ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:28:1: error: ‘toilet’ does not name a type toilet.mesh_poses[0].position.y = 1.0; ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:29:1: error: ‘toilet’ does not name a type toilet.mesh_poses[0].position.z = 0.0; ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:30:1: error: ‘toilet’ does not name a type toilet.mesh_poses[0].orientation.w= 1.0; ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:31:1: error: ‘toilet’ does not name a type toilet.mesh_poses[0].orientation.x= 0.0; ^ /home/noamsalo/catkin_ws/src/project/src/move_ur5_by_me.cpp:32:1 ... (more)