Hey Gil,

Thanks so much. I tried what you suggested and here's the code I have:

arm_navigation_msgs::Shape trimesh_object;
trimesh_object.type = arm_navigation_msgs::Shape::MESH;
btVector3 scale(1.0,1.0,1.0);
shapes::Mesh *mesh = shapes::createMeshFromFilename("package://.../ship.stl", &scale);
if(!planning_environment::constructObjectMsg(mesh, trimesh_object)) {
ROS_WARN_STREAM("Object construction fails");
}
geometry_msgs::Pose pose;
collision_object.shapes.push_back(trimesh_object);
collision_object.poses.push_back(pose);

Now the meshes are computed into convex hulls without errors, but the problem is: at rviz, Planning Scene /planning_scene_markers topic's pole/0 displays error:

"Contains invalid floating point values (nans or infs)"

So maybe the convex hulls or something else are still not computed correctly. I tried different mesh files and got the same error. Maybe it's the Post object's problem? Otherwise it's really hard to figure out why this is happening. I also added this question into here but sadly no one has a clue yet.

Thanks in advance.

-Paul

On Sat, Mar 10, 2012 at 9:25 PM, Arkapravo Bhaumik <arkapravobhaumik@gmail.com> wrote:

Consider putting this question to answer.ros, chances are that you may get better replies.

On 11 March 2012 03:11, Paul Heran Yang <heranyang@gmail.com> wrote:

Hi all,

I've been trying to add meshes into collision object, but always get error: "Unable to compute convex hull"

trimesh_object.type = arm_navigation_msgs::Shape::MESH;

for (int i = 0; i < 3; i++) {
geometry_msgs::Point p;
p.x = i;
p.y = i+1;
p.z = i+2;
trimesh_object.vertices.push_back(p);

}

// then add {0, 1, 2} into trimesh_object.triangles
collision_object.shapes.push_back(trimesh_object);

geometry_msgs::Pose pose;

collision_object.poses.push_back(pose);

...

planning_scene_req.planning_scene_diff.collision_objects.push_back(collision_object);

get_planning_scene_client.call(planning_scene_req, planning_scene_res) ...

I've followed the instructions on http://www.ros.org/wiki/arm_navigation/Tutorials/Planning%20Scene/Adding%20Virtual%20Objects%20to%20the%20Planning%20Scene

All I'm trying to do is just to add a simple triangle into the scene, but so far no luck. The above code just adds {0,1,2},{1,2,3},{2,3,4} into it. I also tried {0,0,1},{0,1,0},{1,0,0}. Nothing works.

I don't get why there's "unable to compute convex hull" error. Thanks in advance.

-Paul

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Paul (Heran) Yang

http://heranyang.com

http://heray.tumblr.com

Cornell University

Computer Science, B.S. 2012