I'm trying to get a .dae file from the pr2.urdf for use in openrave, and
I get this warning:
Warning: geometry type BOX of link base_footprint not exported
Warning: geometry type BOX of link base_laser_link not exported

then I get the following error: 
Error in STLLoader::readFloat
on an infinite loop.

Here are my steps:
>rosrun xacro xacro.py `rospack find
pr2_description`/robots/pr2.urdf.xacro -o /tmp/pr2.urdf
>rosrun collada_urdf urdf_to_collada /tmp/pr2.urdf /tmp/pr2.dae

I'm using the most up-to-date (as of 10am EST) svn version of 
https://code.ros.org/svn/ros-pkg/stacks/robot_model/tags/cturtle
https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common/tags/cturtle
etc. on Ubuntu 10.04

The error comes from collada_urdf::ColladaWriter::loadMeshWithSTLLoader
where STLLoader calling readBinary() on a clearly nonbinary file.

The urdf_to_collada does work
for /opt/ros/cturtle/stacks/pr2_mechanism/pr2_mechanism_model/pr2.urdf,
and that file uses stl instead of dae files:
86c90
< <mesh filename="package://pr2_description/meshes/base_v0/base.stl"/>
---
> <mesh filename="package://pr2_description/meshes/base_v0/base.dae"/>

I notice that files such as base.urdf.xacro were switched to using dae
files in revision 39579.

Is there a new way to generate the urdf/collada files? or was switching
to .dae files in the xacro file a mistake?

Thanks
Garratt