Hi Armin,<br>for your second question, I've answered inline:<br><br><div class="gmail_quote">On Wed, Jul 14, 2010 at 5:49 AM, Armin Hornung <span dir="ltr"><<a href="mailto:HornungA@informatik.uni-freiburg.de">HornungA@informatik.uni-freiburg.de</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi!<br>
<br>
I have a few meshes which I converted from VRML to STL to be rendered as<br>
robot body parts (specified in the robot's URDF). Is it possible to make<br>
the RViz rendering more "smooth"? A different Ogre-based rendering tool<br>
displays the curvatures very smooth, while RViz seems to display each<br>
triangle as a flat surface (no interpolation of the surface normals). If<br>
I look at the meshes in Meshlab, the RViz view corresponds to "flat",<br>
while what I want to achieve corresponds to "smooth". Maybe there is a<br>
setting that I need to activate in the Mesh file or the URDF?<br>
<br>
Secondly, is it possible to have multiple mesh parts / files per robot<br>
link? It seems like additional "visual" or "mesh" tags after the first<br>
one are ignored. Or do I have to create virtual (fixed) robot links for<br>
them?</blockquote><div><br>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.<br> </div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Alternatively, is it possible to have one multi-colored mesh? What<br>
I would like to achieve is to have a robot link that has<br>
differently-colored parts.<br></blockquote><div><br>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 <a href="https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common/tags/cturtle/pr2_description">pr2_description</a> package for reference.<br>
<br>John<br> </div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<br>
Best regards,<br>
Armin<br>
<br>
--<br>
Armin Hornung Albert-Ludwigs-Universität<br>
<a href="http://www.informatik.uni-freiburg.de/%7Ehornunga" target="_blank">www.informatik.uni-freiburg.de/~hornunga</a> Dept. of Computer Science<br>
<a href="mailto:HornungA@informatik.uni-freiburg.de">HornungA@informatik.uni-freiburg.de</a> Humanoid Robots Lab<br>
Tel.: +49 (0)761-203-8010 Georges-Köhler-Allee 79<br>
Fax : +49 (0)761-203-8007 D-79110 Freiburg, Germany<br>
<br>
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