Hi Armin, for your second question, I've answered inline: On Wed, Jul 14, 2010 at 5:49 AM, Armin Hornung < HornungA@informatik.uni-freiburg.de> wrote: > Hi! > > I have a few meshes which I converted from VRML to STL to be rendered as > robot body parts (specified in the robot's URDF). Is it possible to make > the RViz rendering more "smooth"? A different Ogre-based rendering tool > displays the curvatures very smooth, while RViz seems to display each > triangle as a flat surface (no interpolation of the surface normals). If > I look at the meshes in Meshlab, the RViz view corresponds to "flat", > while what I want to achieve corresponds to "smooth". Maybe there is a > setting that I need to activate in the Mesh file or the URDF? > > Secondly, is it possible to have multiple mesh parts / files per robot > link? It seems like additional "visual" or "mesh" tags after the first > one are ignored. Or do I have to create virtual (fixed) robot links for > them? URDF allows only one mesh per link. On the other hand, Gazebo's model XML does allow multiple geometries per body, but does not work with most ROS components. > Alternatively, is it possible to have one multi-colored mesh? What > I would like to achieve is to have a robot link that has > differently-colored parts. > You can texture map the mesh. For example, PR2 Gazebo model in cturtle uses textured COLLADA meshes for visualization. You can take a look at the pr2_descriptionpackage for reference. John > > Best regards, > Armin > > -- > Armin Hornung Albert-Ludwigs-Universität > www.informatik.uni-freiburg.de/~hornunga Dept. of Computer Science > HornungA@informatik.uni-freiburg.de Humanoid Robots Lab > Tel.: +49 (0)761-203-8010 Georges-Köhler-Allee 79 > Fax : +49 (0)761-203-8007 D-79110 Freiburg, Germany > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >