On Jan 28, 2011 6:24 AM, Felix Meßmer <Felix_Messmer@web.de> wrote:
> Dear community,
>
> I'm working on the Care-O-bot from Fraunhofer IPA, Stuttgart, Germany. Specifically on motion planning.
> Therefore I adapted the pr2_arm_navigation launch- and config-files with respect to the Care-O-bot a while ago. This was about 3 months ago.
> Since we did not use collision maps from sensor data for planning so far, I enabled to use the collision map in the environment server.
> At that time, an exception was thrown from within the planning_environment package.
> I fixed that in a local overlay and was then able to do planned motion without using a collision map.
>
> The authors (Ioan Sucan and Sachin Chitta) confirmed that the error was an already known issue.
> Unfortunately, the correct version hasn't been released yet and so I kept on using my local overlay.
>
> In the meantime, the correct version can be found in the unstable ros version.
> So I tried to run my launch files using the unstable ros version this week. Since there were a lot of other changes, some changes had to be made.
>
> But still I am not able to get it running again, due to the following error message:
>
>
> [ERROR] [1296142278.725676475, 95.657000000]: Failed to import scene containing mesh: STL: ASCII file is empty or invalid; no data loaded. Supported extensions are: *.3d;*.3ds;*.ac;*.ac3d;*.acc;*.ase;*.ask;*.b3d;*.blend;*.bvh;*.cob;*.csm;*.dae;*.dxf;*.enff;*.hmp;*.irr;*.irrmesh;*.lwo;*.lws;*.lxo;*.md2;*.md3;*.md5anim;*.md5camera;*.md5mesh;*.mdc;*.mdl;*.mesh.xml;*.mot;*.ms3d;*.ndo;*.nff;*.obj;*.off;*.pk3;*.ply;*.prj;*.q3o;*.q3s;*.raw;*.scn;*.smd;*.stl;*.ter;*.uc;*.vta;*.x;*.xml
> [ERROR] [1296142278.726005869, 95.657000000]: Failed to load mesh 'package://cob_description/ros/meshes/torso_v0/tray_collision.stl'
>
>
> I get this message not only for the tray but all links that have a *.stl-file in the geometry-definition of its collision tag in the respective *.urdf.xacro file.
> We also had *.stl-collision models when the planning stuff worked 3 months ago. But never encountered that error.
>
>
> I get that error message when I try to start any of the following nodes:
> - planning_environment
> - ompl_planning
> - trajectory_filter_server
>
> It seems like our *.stl files are not conform to the format that is expected by these nodes!
>
>
> Does anyone encounter similar problems?
> Does anyone know anything about a certain format for the *.stl files in the collision section?
> Any other hints?
>
>
> Thanks for your attention!
>
>
> Best regards,
> Felix
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