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

[Felix Messmer]

Hi John,

thanks for your reply!
Our *.stl files are already in binary format.

I tried some more things:
1) I saw that our *_collision.stl files are somehow marked as 
executables (our *.stl files we use in the visual section are not). So I 
removed the execute mode. But this didn't change anything.

2) Next I tried to use the same *.stl file we are using in the visual 
tag also in the collision tag. That results in the same error message.

3) I replaced one of our *.stl files with one from the pr2_description 
(forearm) - and that WORKED!!!

Since I'm not the guy who constructed the models and since I'm not 
familiar with CAD or *.stl at all, I have no clue what the difference 
between the pr2.stl files and our care-o-bot.stl files is.
If someone wants to have a look at it, you can find the *.stl models in 
the cob_description package (in the 'meshes' folder).

Felix




On 2011-01-28 18:11, John Hsu wrote:
 > Hi Felix,
 > Can you try and convert the stl meshes to binary stl meshes?
 > e.g.
 > rosrun ivcon ivcon input.stl output.stlb
 > And try loading the .stlb files. You might also have to rename the .stlb
 > files back to.stl.
 > John
 > On Jan 28, 2011 6:24 AM, Felix Meßmer <Felix_Messmer at 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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