[ros-users] Error with *.stl format when using planning_environment and arm_navigation in unstable ROS version

[Felix Meßmer]

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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