Hi John,

I have a question about one of the points you made, namely that gazebo can
show bounding boxes for collision meshes.  When using STL models for the
links, and then the same exact information for the collision model, when I
show the bounding box for the collision mesh, it seems to be offset halfway
down the model, as if the rendering code did not expect the box origin to be
in the center instead of on one end of the box.  Is this the behavior on
your installation?  The code I am using inside the link definition in my
xacro file is:

<visual>
  <material name="Grey" />
  <origin xyz="0 .189 0" rpy="${PI} 0 0" />
  <geometry>
    <mesh
filename="${homeDirectory}/models/componentSTL/ShoulderLink1.stl"/>
  </geometry>
</visual>
<collision>
  <origin xyz="0 .189 0" rpy="${PI} 0 0" />
  <geometry>
    <mesh
filename="${homeDirectory}/models/componentSTL/ShoulderLink1.stl"/>
  </geometry>
</collision>

Andrew

On Tue, Dec 14, 2010 at 6:32 PM, John Hsu <johnhsu@willowgarage.com> wrote:
>
> In terms of visualization capability in gazebo, in summary, gazebo
currently can visualize following entities:
>
> bounding box for the collision mesh