[ros-users] Robot model meshes in RViz

John Hsu johnhsu at willowgarage.com
Wed Jul 14 16:33:33 UTC 2010

Hi Armin,
for your second question, I've answered inline:

On Wed, Jul 14, 2010 at 5:49 AM, Armin Hornung <
HornungA at 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

> 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
for reference.


> Best regards,
> Armin
> --
> Armin Hornung                              Albert-Ludwigs-Universität
> www.informatik.uni-freiburg.de/~hornunga<http://www.informatik.uni-freiburg.de/%7Ehornunga>  Dept. of Computer Science
> HornungA at 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 at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20100714/30ef837a/attachment-0003.html>

More information about the ros-users mailing list