I'm trying to create a Robot URDF and represent it in RVIZ and I have two problems when inserting the geometry using (when I used simple geometries the robot's representation was ok).
If the link's is STL extension represents only some pieces of it. Also it is the same if I try whit any of the STL files of PR2 (for example head_v0.stl), only represents some lines. Why not represent STL files well? (no errors in terminal and RVIZ)
If I transform the object to Collada (.dae) exporting with the program "Blender", for example, this is represented correctly, but in white, when the object is of a different color!.
Ubuntu 11.04, ROS diamondback, stack robot_model install.
Can anyone help me with one of the two problems?
Sorry for my English, I am Spanish and I don't write/speak english very well.
The URDF robot is not the problem, but it is:
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stl error loading
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arm_navigation package (lack of) scaling issue from urdf files
Hi,
I tried getting the arm_navigation tool running with my custom (non-PR2) robot .urdf file and had some issues. The biggest (literally) issue was that my .urdf file uses .stl mesh files that are in inches that are manually scaled to meters. For example:
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RViz Mesh Transparency Issue
I have just gotten our SolidWorks assembly of a custom robotic arm converted into URDF format and its joint states are successfully being updated in rviz. The issue I am currently having is an odd transparency issue where certain joint meshes are being displayed over other joint meshes when they shouldn't. Its difficult to see details of the 3d model because of this overlapping display issue. An example screenshot from rviz is below, where the left orange part should be half hidden by the grey linkage in front of it:
I have the materials with opacity of 1 like so:
>> >>> > etc...
And geometry defined as:
>>
The meshes are SolidWorks stl files. I know there have been many issues with stl file binary format being wrong, but I don't think that is the issue since as you see it mostly displays correctly. Perhaps the bug was fixed in the latest version of SolidWorks. I tried converting to .dae collada format using MeshLab on Windows but those files did not display correctly in rviz at all.
Any suggestions?
Update 1/16/11:
I am still having issues with rviz displaying my robot model correctly on an Ubuntu PC. However, using the exact same code/urdf/configuration on an Ubuntu Virtual Machine (VirtualBox) running on a Mac, the model is being displayed correctly with correct transparencies. I just have to use "export OGRE_RTT_MODE=Copy" in the terminal. Using that on the PC does not work.
The main difference that I can see then is the glx vendor/driver. You can see this info by running "glxinfo".
In the working virutal machine I get this data:
name of display: :0
display: :0 screen: 0
direct rendering: Yes
server glx vendor string: Chromium
server glx version string: 1.3 Chromium
server glx extensions:
GLX_ARB_multisample, GLX_EXT_texture_from_pixmap, GLX_SGIX_fbconfig,
GLX_ARB_get_proc_address
client glx vendor string: Chromium
client glx version string: 1.3 Chromium
client glx extensions:
GLX_ARB_multisample, GLX_EXT_texture_from_pixmap, GLX_SGIX_fbconfig,
GLX_ARB_get_proc_address
GLX version: 1.3
GLX extensions:
GLX_ARB_multisample, GLX_EXT_texture_from_pixmap, GLX_SGIX_fbconfig,
GLX_ARB_get_proc_address
OpenGL vendor string: Humper
OpenGL renderer string: Chromium
OpenGL version string: 2.1 Chromium 1.9
OpenGL shading language version string: 1.20
OpenGL extensions:
In the non-working Ubuntu PC:
name of display: :0.0
display: :0 screen: 0
direct rendering: Yes
server glx vendor string: SGI
server glx version string: 1.4
server glx extensions:
GLX_ARB_multisample, GLX_EXT_visual_info, GLX_EXT_visual_rating,
GLX_EXT_import_context, GLX_EXT_texture_from_pixmap, GLX_OML_swap_method,
GLX_SGI_make_current_read, GLX_SGIS_multisample, GLX_SGIX_fbconfig,
GLX_SGIX_pbuffer, GLX_MESA_copy_sub_buffer, GLX_INTEL_swap_event
client glx vendor string: Mesa Project and SGI
client glx version string: 1.4
client glx extensions:
GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_MESA_copy_sub_buffer,
GLX_MESA_swap_control, GLX_OML_swap_method, GLX_OML_sync_control,
GLX_SGI_make_current_read, GLX_SGI_swap_control, GLX_SGI_video_sync,
GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_pbuffer,
GLX_SGIX_visual_select_group, GLX_EXT_texture_from_pixmap,
GLX_INTEL_swap_event
GLX version: 1.4
GLX extensions:
GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method,
GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_pbuffer,
GLX_INTEL_swap_event
OpenGL vendor string: Mesa Project
OpenGL renderer string: Software Rasterizer
OpenGL version string: 2.1 Mesa 7.10.2
OpenGL shading language version string: 1.20
OpenGL extensions:
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Importing Collada meshes into a Gazebo world
I ran into some trouble when trying to import a Collada mesh file as static world into Gazebo (similar to a [previous question](http://answers.ros.org/question/1862/gazebo-world-file-from-a-collada-file)).
1. How can gazebo worlds be distributed into ROS packages? The actual .world file can be put into a package, but in there the mesh is loaded with
meshfile.dae
(...)0.02 0.02 0.02 ` tag. But shouldn't that instead be `0.0254 0.0254 0.0254 `? Otherwise the whole world is slightly too small.
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URDF Link Mesh File Locations
Is it true that the mesh files for URDF links must reside on each machine using the robot? For example, the mesh files for turtlebot must reside both on the netbook and the workstation running rviz. If this is true I think this fact should be added here [http://www.ros.org/wiki/urdf/XML/Link](http://www.ros.org/wiki/urdf/XML/Link#preview) under the mesh heading.
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Mesh rendering in RViz
Hello all,
I am having troubles with the rendering of my meshes in RViz. The models are created in Maya and then exported to OBJ format. They are then imported in Blender and re-exported to DAE format as a final step before visualizing them in RViz. The two step export process is done because the DAE files exported directly from Maya (using the PolyTrans plugin) cause an error in RViz.
[Here's](http://imgur.com/IQxpP) a screenshot of the model in RViz.
Since my knowledge of 3D modelling is limited, I would appreciate your help regarding the issue. I can also provide the mesh files if required.
Thank you in advance.
Cheers,
Hozefa
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Display an image in gazebo
Hello, I wanted to simulate in Gazebo a system using a known target and a camera to compute the pose of the camera itself. I will use the ar_pose package the problem is that I am not able to display the know target. I'have tried creating a mesh (with blender) of the target and apply it to an object but I am having big trouble. First I don't know how to handle the material, I tryed to point, in the urdf, at the material file created with blender but it doesn't work and if I use a standrad material (like "blue") it doesn't display anything.
Thanks for your help!
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Add MESH into planning scene collision object FAILED
Hi all,
I've been trying to add meshes into collision object, but always get error: "Unable to compute convex hull"
trimesh_object.type = arm_navigation_msgs::Shape::MESH;
for (int i = 0; i < 3; i++) {
geometry_msgs::Point p;
p.x = i;
p.y = i+1;
p.z = i+2;
trimesh_object.vertices.push_back(p);
}
// then add {0, 1, 2} into trimesh_object.triangles
// ...
collision_object.shapes.push_back(trimesh_object);
geometry_msgs::Pose pose;
collision_object.poses.push_back(pose);
...
planning_scene_req.planning_scene_diff.collision_objects.push_back(collision_object);
get_planning_scene_client.call(planning_scene_req, planning_scene_res) ...
I've followed the instructions on [Tutorials/PlanningScene/AddingVirtualObjectsToThePlanningScene](http://www.ros.org/wiki/arm_navigation/Tutorials/Planning%20Scene/Adding%20Virtual%20Objects%20to%20the%20Planning%20Scene)
All I'm trying to do is just to add a simple triangle into the scene, but so far no luck. The above code just adds {0,1,2},{1,2,3},{2,3,4} into it. I also tried {0,0,1},{0,1,0},{1,0,0}. Nothing works.
I don't get why there's "unable to compute convex hull" error. Thanks in advance.
Best,
Paul
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rviz MESH nans / infs Planning Scene
Hi!
I've been following the instructions from [Adding Virtual Object to a Planning Scene](http://www.ros.org/wiki/arm_navigation/Tutorials/Planning%20Scene/Adding%20Virtual%20Objects%20to%20the%20Planning%20Scene).
I'm trying to add some meshes into the planning scene. However, even the simplest pyramid object ({0,0,1},{0,1,0},{1,0,0},{0,0,0}) does not work. At rviz, Planning Scene /planning_scene_markers topic's pole/0 displays error:
"Contains invalid floating point values (nans or infs)"
I tried loading some other established meshes by calling:
shapes::createMeshFromFilename("package://pr2_description/meshes/gripper_v0/l_finger.dae"
And I still get the same error. I appreciate any suggestions. Thank you!
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URDF and Mesh for Pioneer 3AT
I need to model several Pioneer 3AT robots for a project, so I was hoping to find existing urdf and mesh files to use with gazebo. However, my search hasn't turned up anything and I'm not sure what to do next. Does anyone know where I can find what I'm looking for, or good places for me to look?
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using rviz models in gazebo
i have created a robot model for rviz in urdf format.....how can i use this model on gazebo...i mean what changes do i have to make???
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Bug: Mesh file path in URDF. Cannot locate resource file://
Hi
I've saved a SolidWorks file as an ASCII .STL, opened it in MeshLab and re-saved as a Binary .STL When I try to test it using the file:// descriptor in a URDF file I'm getting some errors: XML code is:
the mesh loads correctly. Thanks.
I've saved a SolidWorks file as an ASCII .STL, opened it in MeshLab and re-saved as a Binary .STL When I try to test it using the file:// descriptor in a URDF file I'm getting some errors: XML code is:
the mesh loads correctly. Thanks.
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How to get the MESH filenames from the urdf_parser?
Hi, I am trying to retrieve the mesh file names/paths from the robot URDF description. I seem to be able to get all of the other information (link name, mesh origin, parent/child link names, etc.).
Here is my code:
urdf::Model urdfModel;
if (!urdfModel.initParam("robot_description")) {
ROS_ERROR("Error parsing URDF file...");
return false;
}
string lnk_name = "/r2/left_palm";
boost::shared_ptr lnk;
urdfModel.getLink(lnk_name, lnk);
cout << "what is the type of model: " << viz->geometry->type << endl;
cout << viz->origin.position.x << endl;
cout << viz->origin.position.y << endl;
cout << viz->origin.position.z << endl;
That all works great, but I can't for the life of me figure out where the meshname is stored....
Thanks!
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how to display a mesh with texture in RViz?
Hello All,
All am trying is loading an OBJ model from a file and display/visualize using RViz. Or consider I have a node that publishes a new mesh and corresponding texture data @30Hz. Is there a way to display this 3D mesh with texture in RViz? Thank you for any help.
Best,
CV
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How to get a vertice list from a .dae or .mesh file
Is there an easy way to have a vertice list from a .dae or .mesh file for importing into a planning scene as a CollisionObject?
If I use the arm_navigation_msgs::Shape::MESH type, I have to provide a vertice list, but I don't know if I have to read and extract vertices or if there is existing functions/methods for that?
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Ogre Meshes and Gazebo 1.2.x
Is there some reason to newer versions of Gazebo (Groovy) not supporting direct reading of Ogre meshes? RViz still support it.
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Mesh model for PR2
Is there any way to get the mesh model for PR2?
Can I find it in some packages or from other sources.
Thanks~
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problem with mesh orientation in rviz
Hello everyone. I want to display a marker in rviz with the shape of a person. I found a .dae model on the web. I send the marker information trough the proper topic and I am able to visualize the mesh model in rviz. The problem is that, when I use some keyboard command to make the model rotate, it does not. It is strange because I am displaying other robots as "marker" and they receive the orientation (obviously the code I am using is the same). I've never created a .dae model and looking into the file I cannot figure out what is wrong =( Any expert? Otherwise, can someone tell me where I can find mesh models of a "person" (even a humanoid robot is ok) that can work in rviz?
Thank you.
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artifacts when visualizing mesh with librviz
I'm working on a project in which we are trying to visualize large meshes with textures in a custom written app that uses librviz. When loading collada files that were downloaded from 3D Warehouse, we notice a few bad things that happen when visualizing them.
Specifically, we experienced two problems when visualizing [this mesh](http://sketchup.google.com/3dwarehouse/details?mid=3c3c1d53d7849db328e546aa74f65fca&prevstart=0):
1. Some textures weren't loaded at all - After we downloaded it, we had to fix the .dae file so that librviz wouldn't crash because the image paths were wrong. First, we had to go change the file paths of the textures so that they were correct. Then we had change the filenames so they were case sensitive. At this point, we didn't get any errors or warnings from rviz (even with the rviz logger set to DEBUG).
- ex. Check out the cars in the images below.
2. White "artifacts" when visualizing the mesh from **some** perspectives. If I were to move the camera around, the white lines would disappear in some areas and show up in other areas. It's difficult to find a perspective that makes them disappear.
- ex. Check out the white lines in the images below.
I've seen the very impressive gazebo worlds that the folks at OSRF made for the DRC, so I would bet it's either a problem in rviz that doesn't exist in gazebo OR I'm doing something wrong.
Any advice on how to make the meshes visualize properly from ALL perspectives and to make all of the textures load would be much appreciated.
(Please note that I really don't know much about 3D graphics in general.....so I use the term "artifacts" here because I hear people using it to describe a whole bunch of crap that happens when working with meshes. Please tell me if there is a real term that describes what we're seeing...)
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Meshes in moveit setup assistant
Hi all,
Pretty quick question: can meshes be used and rendered in urdf files for the moveit_setup_assistant? I ask because currently, when I try to load a urdf with a reference to a .stl file, I get the following error:
[rospack] Error: no package/stack given
[librospack]: error while executing command
And mesh files don't load. Does anyone know why this is?
EDIT: I'm actually wondering - is this just a limitation of rviz? Are there certain ways one would have to have their urdf formatted to make all the meshes appear properly? Will only certain filetypes render?
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