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_description package 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

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