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Contains packages for converting collada files into URDF

CMake 2.12% C++ 97.88%

collada_urdf's Introduction

Collada URDF

This contains packages for converting from collada files to URDF. See the ROS wiki for API documentation and tutorials.

This was originally part of the ros/robot_model repository. It has been moved to this repo as described by ros/robot_model#195

Linking issue with Raspbian

If you are using a Raspberry Pi with Raspbian you might encounter a linking problem with Assimp that looks like:

~/ros_catkin_ws/devel_isolated/collada_urdf/lib/libcollada_urdf.so: undefined reference to `typeinfo for Assimp::IOSystem'
collect2: error: ld returned 1 exit status

A work-around consists of compiling and installing Assimp latest version:

mkdir -p $HOME/libraries/assimp-3.3.1/build_release
cd $HOME/libraries/assimp-3.3.1/
wget https://github.com/assimp/assimp/archive/v3.3.1.zip
unzip v3.3.1.zip
rm v3.3.1.zip
mv v3.3.1 src
cd build_release
cmake ../src -DCMAKE_BUILD_TYPE=Release -DASSIMP_BUILD_TESTS=False
make -j3

sudo make -j3 install

Make sure you reconfigure the catkin workspace (or just delete the build files) so that the newest Assimp version is found before compiling again.

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collada_urdf's Issues

collada_to_urdf .dae files broken as viewed in Meshlab

I have observed this problem on both ROS Indigo (Ubuntu 14.04) and ROS Kinetic (Ubuntu 16.04). The problem is so severe that I feel I must be doing something wrong.

Take for example the Turtlebot model found at:

turlletbot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro

First I convert this to URDF:

$ rosrun xacro xacro kobuki_hexagons_asus_xtion_pro.urdf.xacro > ~/kobuki.urdf

Now I check the URDF file:

$ check_urdf ~/kobuki.urdf

---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
child(1): base_link
child(1): camera_rgb_frame
child(1): camera_depth_frame
child(1): camera_depth_optical_frame
child(2): camera_link
child(3): camera_rgb_optical_frame
child(2): caster_back_link
child(3): caster_front_link
child(4): cliff_sensor_front_link
child(5): cliff_sensor_left_link
child(6): cliff_sensor_right_link
child(7): gyro_link
child(8): mount_asus_xtion_pro_link
child(9): plate_bottom_link
child(10): plate_middle_link
child(11): plate_top_link
child(12): pole_bottom_0_link
child(13): pole_bottom_1_link
child(14): pole_bottom_2_link
child(15): pole_bottom_3_link
child(16): pole_bottom_4_link
child(17): pole_bottom_5_link
child(18): pole_kinect_0_link
child(19): pole_kinect_1_link
child(20): pole_middle_0_link
child(21): pole_middle_1_link
child(22): pole_middle_2_link
child(23): pole_middle_3_link
child(24): pole_top_0_link
child(25): pole_top_1_link
child(26): pole_top_2_link
child(27): pole_top_3_link
child(28): wheel_left_link
child(29): wheel_right_link

Next I run urdf_to_collada:

$ rosrun collada_urdf urdf_to_collada ~/kobuki.urdf ~/kobuki.dae

Finally, I bring up the resulting Collada mesh in meshlab:

$ meshlab ~/kobuki.dae

And this is what it looks like:

I get similar bizarre results for any robot model I start with.

request for release

please release new version solving #27

[collada_urdf] lots of warning and errors when running tests due to missing pr2_description package

pr2.urdf reference meshes from the pr2_description package but doesn't depend on it causing a lot of errors and warnings when running tests (extract of the error log below).

Possible approaches:

Remove the meshes from the urdf given that the tests don't check meshes and textures.
Add a test_dependency on pr2_description. This will bury pr2_description deeper in the dependency list and move us away from removing it from the desktop-full dependency list
Copy the pr2 meshes in this package: if the goal is to keep the urdf as is, this will allow to not add the dependency and allow future test to check for meshes conversion
Use a different urdf for testing purposes and not rely on the pr2 one
Do nothing because these are just warning but the test is still passing

IMO: The least amount of effort would be to copy the meshes while fixing the test output. A longer term solution could be to use a different urdf self-contained in this package or one of its existing dependencies.

[==========] Running 2 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 2 tests from collada_urdf
[ RUN      ] collada_urdf.collada_from_urdf_file_works
[rospack] Error: package 'pr2_description' not found
[librospack]: error while executing command
[rospack] Error: package 'pr2_description' not found
[librospack]: error while executing command
[rospack] Error: package 'pr2_description' not found
[librospack]: error while executing command
[...]
[rospack] Error: package 'pr2_description' not found
[librospack]: error while executing command
[rospack] Error: package 'pr2_description' not found
[librospack]: error while executing command
[rospack] Error: package 'pr2_description' not found
[librospack]: error while executing command
[ WARN] [1501709311.815362685]: failed to load resource package://pr2_description/meshes/base_v0/base.stl
[ WARN] [1501709311.820997178]: failed to load resource package://pr2_description/meshes/base_v0/caster.stl
[ WARN] [1501709311.825968026]: failed to load resource package://pr2_description/meshes/base_v0/pr2_wheel.stl
[...]
[ WARN] [1501709311.975670192]: failed to load resource package://pr2_description/meshes/tilting_laser_v0/hok_tilt.stl
[ WARN] [1501709311.981071835]: failed to load resource package://pr2_description/meshes/shoulder_v0/shoulder_yaw.stl
[ WARN] [1501709311.986110814]: failed to load resource package://pr2_description/meshes/shoulder_v0/shoulder_lift.stl

collada_parser build failure on debian jessie

From ros/robot_model#166

Collada_parser failed building on my raspberry pi 3 (debian jessie). I ran into the following error:

....
/home/pi/ros_catkin_ws/src/robot_model/collada_parser/src/collada_parser.cpp:2434:59: error: request for member ‘end’ in ‘((urdf::ColladaModelReader*)this)->urdf::ColladaModelReader::_model.boost::shared_ptr<T>::operator-><urdf::ModelInterface>()->urdf::ModelInterface::joints_’, which is of non-class type ‘int’
         if (_model->joints_.find(name) == _model->joints_.end()) {
                                                           ^
/home/pi/ros_catkin_ws/src/robot_model/collada_parser/src/collada_parser.cpp:2437:38: error: request for member ‘find’ in ‘((urdf::ColladaModelReader*)this)->urdf::ColladaModelReader::_model.boost::shared_ptr<T>::operator-><urdf::ModelInterface>()->urdf::ModelInterface::joints_’, which is of non-class type ‘int’
             pjoint = _model->joints_.find(name)->second;
                                      ^
CMakeFiles/collada_parser.dir/build.make:54: recipe for target 'CMakeFiles/collada_parser.dir/src/collada_parser.cpp.o' failed
make[2]: *** [CMakeFiles/collada_parser.dir/src/collada_parser.cpp.o] Error 1
CMakeFiles/Makefile2:91: recipe for target 'CMakeFiles/collada_parser.dir/all' failed
make[1]: *** [CMakeFiles/collada_parser.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'collada_parser': 
  Command '['/opt/ros/indigo/env.sh', 'make', '-j1']' returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/pi/ros_catkin_ws/build_isolated/collada_parser && /opt/ros/indigo/env.sh make -j1

Re-running the make command gives:

[ 50%] Building CXX object CMakeFiles/collada_parser.dir/src/collada_parser.cpp.o
CMakeFiles/collada_parser.dir/build.make:54: recipe for target 'CMakeFiles/collada_parser.dir/src/collada_parser.cpp.o' failed
CMakeFiles/Makefile2:91: recipe for target 'CMakeFiles/collada_parser.dir/all' failed
Makefile:127: recipe for target 'all' failed

I raised the question the issue also here.

[ WARN] [1574689624.469138015]: failed to load resource ../meshes/ur5/visual/base.obj

hi,I run the code osrun collada_urdf urdf_to_collada "$MYROBOT_NAME".urdf "$MYROBOT_NAME".dae,and meet this error:
[ WARN] [1574689624.469138015]: failed to load resource ../meshes/ur5/visual/base.obj [ WARN] [1574689624.473480332]: failed to load resource ../meshes/ur5/visual/shoulder.obj [ WARN] [1574689624.477768633]: failed to load resource ../meshes/ur5/visual/upperarm.obj [ WARN] [1574689624.482099850]: failed to load resource ../meshes/ur5/visual/forearm.obj [ WARN] [1574689624.486446641]: failed to load resource ../meshes/ur5/visual/wrist1.obj [ WARN] [1574689624.490742001]: failed to load resource ../meshes/ur5/visual/wrist2.obj [ WARN] [1574689624.495029923]: failed to load resource ../meshes/ur5/visual/wrist3.obj [ WARN] [1574689624.499581247]: failed to load resource ../meshes/ur5/visual/l_gripper_tip_scaled.stl [ WARN] [1574689624.503947608]: failed to load resource ../meshes/ur5/visual/l_gripper_tip_scaled.stl
but those files are exited in this path.
who can tell me how to to deal with it?

CMake issue with the release on noetic

After having installed ros-noetic-collada-urdf, using find_package(catkin REQUIRED COMPONENTS collada_urdf) fails with error

CMake Error at /opt/ros/noetic/share/collada_urdf/cmake/collada_urdfConfig.cmake:113 (message):
Project 'collada_urdf' specifies '/usr/../include/include' as an include
dir, which is not found. It does neither exist as an absolute directory
nor in '${prefix}//usr/../include/include'. Check the issue tracker
'https://github.com/ros/collada_urdf/issues' and consider creating a ticket
if the problem has not been reported yet.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
CMakeLists.txt:7 (find_package)

fatal error: dae.h: No such file or directory compilation terminated.

when I try to catkin_make this project, I got this problem.

CMake Warning at birl_module_robot/robot_model/collada_parser/CMakeLists.txt:21 (find_package):
  By not providing "FindCOLLADA_DOM.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "COLLADA_DOM", but CMake did not find one.

  Could not find a package configuration file provided by "COLLADA_DOM"
  (requested version 2.3) with any of the following names:

    COLLADA_DOMConfig.cmake
    collada_dom-config.cmake

  Add the installation prefix of "COLLADA_DOM" to CMAKE_PREFIX_PATH or set
  "COLLADA_DOM_DIR" to a directory containing one of the above files.  If
  "COLLADA_DOM" provides a separate development package or SDK, be sure it
  has been installed.

CMake Warning at birl_module_robot/robot_model/collada_urdf/CMakeLists.txt:53 (find_package):
  By not providing "FindCOLLADA_DOM.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "COLLADA_DOM", but CMake did not find one.

  Could not find a package configuration file provided by "COLLADA_DOM"
  (requested version 2.3) with any of the following names:

    COLLADA_DOMConfig.cmake
    collada_dom-config.cmake

  Add the installation prefix of "COLLADA_DOM" to CMAKE_PREFIX_PATH or set
  "COLLADA_DOM_DIR" to a directory containing one of the above files.  If
  "COLLADA_DOM" provides a separate development package or SDK, be sure it
  has been installed.

/home/tan/ros/module_robot/src/birl_module_robot/robot_model/collada_parser/src/collada_parser.cpp:45:17: fatal error: dae.h: No such file or directory
compilation terminated.
birl_module_robot/robot_model/collada_parser/CMakeFiles/collada_parser.dir/build.make:62: recipe for target 'birl_module_robot/robot_model/collada_parser/CMakeFiles/collada_parser.dir/src/collada_parser.cpp.o' failed
make[2]: *** [birl_module_robot/robot_model/collada_parser/CMakeFiles/collada_parser.dir/src/collada_parser.cpp.o] Error 1
CMakeFiles/Makefile2:969: recipe for target 'birl_module_robot/robot_model/collada_parser/CMakeFiles/collada_parser.dir/all' failed
make[1]: *** [birl_module_robot/robot_model/collada_parser/CMakeFiles/collada_parser.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 18%] Built target arm5d_simulation
[ 22%] Built target arm5d_inverse_solution
[ 25%] Built target climbot5d_gazebo_simulation
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

urdf_to_collada: cylinder geometry not generated properly

Howdy!

It seems to be the case that urdf_to_collada is not generating mesh geometry properly for my urdf file.

Upon inspection of the resulting dae file in both the openrave gui, and in meshlab, I'm seeing that the number of vertices does not seem to be sufficient to represent the cylinder geometries in the urdf file.

I've tested urdf_to_collada on the pr2 urdf that is included in the test directory, and it seems to be working properly. However, I did not look too closely at how the cylinders were generated.

I witness this behavior both in the version of urdf_to_collada in kinetic's robot_model package, and also at the head of the current kinetic-devel branch.

I've attached my urdf file, and resulting collada file for reference, as well as an image of the output as viewed in the openrave viewer.

Is this a bug?

greppy_arm.urdf.txt
out.dae.txt

Linking issue when building from source on ARM device

Already reported here:

ros/robot_model#12 (closed, not solved!)
ros/ros#142 (closed, not solved!)
http://answers.ros.org/question/48084/urdf_to_collada-undefined-reference-to-vtable-for-assimpiosystem/

Please keep this open as users might not find the old/closed issues. The bug is un-resolved though a work-around is provided in the issues above.

Error:

==> make -j3 in '/home/victor/libraries/ros_catkin_ws/build_isolated/collada_urdf'
Scanning dependencies of target collada_urdf
Scanning dependencies of target collada_to_urdf
[ 16%] Building CXX object CMakeFiles/collada_to_urdf.dir/src/collada_to_urdf.cpp.o
[ 33%] Building CXX object CMakeFiles/collada_urdf.dir/src/collada_urdf.cpp.o
[ 50%] Linking CXX executable /home/victor/libraries/ros_catkin_ws/devel_isolated/collada_urdf/lib/collada_urdf/collada_to_urdf
/usr/bin/ld: warning: libboost_system.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_system.so.1.55.0
/usr/bin/ld: warning: libboost_system.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_system.so.1.55.0
/usr/bin/ld: warning: libboost_thread.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_thread.so.1.55.0
/usr/bin/ld: warning: libboost_thread.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_thread.so.1.55.0
[ 50%] Built target collada_to_urdf
[ 66%] Linking CXX shared library /home/victor/libraries/ros_catkin_ws/devel_isolated/collada_urdf/lib/libcollada_urdf.so
[ 66%] Built target collada_urdf
Scanning dependencies of target urdf_to_collada
[ 83%] Building CXX object CMakeFiles/urdf_to_collada.dir/src/urdf_to_collada.cpp.o
[100%] Linking CXX executable /home/victor/libraries/ros_catkin_ws/devel_isolated/collada_urdf/lib/collada_urdf/urdf_to_collada
/usr/bin/ld: warning: libboost_system.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_system.so.1.55.0
/usr/bin/ld: warning: libboost_system.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_system.so.1.55.0
/usr/bin/ld: warning: libboost_system.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_system.so.1.55.0
/usr/bin/ld: warning: libboost_system.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_system.so.1.55.0
/usr/bin/ld: warning: libboost_thread.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_thread.so.1.55.0
/usr/bin/ld: warning: libboost_thread.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_thread.so.1.55.0
/usr/bin/ld: warning: libboost_thread.so.1.54.0, needed by /usr/lib/gcc/arm-linux-gnueabihf/4.9/../../../arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libboost_thread.so.1.55.0
/home/victor/libraries/ros_catkin_ws/devel_isolated/collada_urdf/lib/libcollada_urdf.so: undefined reference to `typeinfo for Assimp::IOSystem'
collect2: error: ld returned 1 exit status
CMakeFiles/urdf_to_collada.dir/build.make:190: recipe for target '/home/victor/libraries/ros_catkin_ws/devel_isolated/collada_urdf/lib/collada_urdf/urdf_to_collada' failed
make[2]: *** [/home/victor/libraries/ros_catkin_ws/devel_isolated/collada_urdf/lib/collada_urdf/urdf_to_collada] Error 1
CMakeFiles/Makefile2:1777: recipe for target 'CMakeFiles/urdf_to_collada.dir/all' failed
make[1]: *** [CMakeFiles/urdf_to_collada.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'collada_urdf': 
  Command '['/home/victor/libraries/ros_catkin_ws/install_isolated/env.sh', 'make', '-j3']' returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/victor/libraries/ros_catkin_ws/build_isolated/collada_urdf && /home/victor/libraries/ros_catkin_ws/install_isolated/env.sh make -j3

Model colours are ignored after an URDF to Collada conversion

I am trying to load .dae robot models using three.js, with their ColladaLoader2.js.

For example, I am trying to load the KUKA LBR IIWA robot model. The kuka_lbr_iiwa_support ROS package contains the .urdf and the meshes required by it.

The first thing I did was to convert the .urdf into a .dae model, by running the following command:
rosrun collada_urdf urdf_to_collada lbr_iiwa_14_r820.urdf kuka_lbr_iiwa_14_r820.dae

This executes successfully, but once I load the resultant model the colours are all wrong. Here is the result:

kuka_lbr_iiwa_14_r820.dae

However, if I load the partial .dae meshes under kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/, they load just fine:

kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_5.dae

kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_6.dae

Release to indigo, kinetic, and lunar

Need to release to change repository URL

Invalid collada file. Must be version 1.4.0 or 1.4.1

Hi,

I am using Melodic and I was able to convert the urdf to dae according to the commands. However, when i use this dae file in launch file to visualize it in gazebo, i get the following error:

[Err] [ColladaLoader.cc:116] Invalid collada file. Must be version 1.4.0 or 1.4.1

Can you help me in this regard like how can i update it or any other solution that works?

Thanks

collada_dom 2.4 on gentoo

From ros/robot_model#72

While installing collada_parser package, I ran into an odd error where it failed compiling beause it could not find collada_dom's dae.h file (no longer have the exact backlog, sorry)

the location of this file on my system is:

/usr/include/collada-dom2.4/dae.h

I fixed this by changing line 20 of src/robot_model/collada_parser/CMakeLists.txt from:

find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)

find_package(COLLADA_DOM 2.4 COMPONENTS 1.5)

As an aside, this likely needs a REQUIRED or something.

Error when installing collada_urdf

Hi there,

I am trying to convert a urdf to .dae by executing the following command:

rosrun collada_urdf urdf_to_collada <myrobot_name>.urdf <myrobot_name>.dae

When I do, I end up with the following error:

[rospack] Error: package 'collada_urdf' not found

I have tried to running rosdep install collada_urdf, that returns the following:

ERROR: Rosdep cannot find all required resources to answer your query
Missing resource collada_urdf
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/jjustin/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

So I am running ubuntu 16 inside of VMware, running ROS kinetic and I have compiled openrave from source according to the tutorial found here.

Any help in this matter would be appreciated.

Thanks.

collada to urdf does not need to depend on TF

From ros/robot_model#119

This part of the code:
https://github.com/ros/robot_model/blob/19ac39ac7324237485a27664183442a93319a269/collada_urdf/src/collada_to_urdf.cpp#L345

seems to be the only reason collada urdf depends on TF. Removing it or using urdf::Pose instead will remove the dependency.

noetic release

we could release collada_urdf once ros/rosdistro#25140 get merged.

[collada_urdf] [question] is the tinyxml dependency required?

I see that this package (both kinetic and indigo branches) find and link against tinyxml. But I cant find any code using tinyxml and it's not listed in the package.xml.

Can this dependency be removed? I'm happy to contribute a PR if it is the case

Segmentation fault (core dumped)

Hi
I get the following errors and I can't find the error. The command used is:
rosrun collada_urdf urdf_to_collada "$MYROBOT_NAME".urdf "$MYROBOT_NAME".dae

I got this error: Segmentation fault (core dumped)

I'm using ubuntu18.04  ,ROS  melodic .

Could you help me with it?
Thanks a lot.

URDF to Collada: joint coordinate system not observed?

From ros/robot_model#169

I have a problem similar to this http://answers.ros.org/question/221675/unable-to-move-links-within-urdf-file/ , it is only that I convert from URDF to Collada.

Original URDF as seen in RViz:

After converting to Collada as seen in Openrave:

If I judge solely by eyesight, it seems to me that in the converted Collada file the visual elements are rendered not w.r.t. (local) joint coordinate systems.

I am using Indigo:

$ dpkg -l | grep indigo-collada
ii  ros-indigo-collada-parser                             1.11.11-0trusty-20160627-175110-0700                amd64        This package contains a C++ parser for the Collada robot description format.
ii  ros-indigo-collada-urdf                               1.11.11-0trusty-20161111-194651-0800                amd64        This package contains a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents.

Is this a known problem, maybe, already solved in Kinectic?

Thanks.

[collada to urdf] Segmentation fault in gazebo (Ubuntu 18.04)

When I spawned urdf model converted from collada into gazebo (melodic, ubuntu18.04), I got Segmentation fault (core dumped).
I did not get this Segmentation fault with urdf models converted in kinetic (ubuntu 16.04).

Thread 39 "gzserver" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fff1ffff700 (LWP 23344)]
0x00007ffff6a0aa76 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_first_not_of(char, unsigned long) const ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
(gdb) Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 23197, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/hiraoka/.ros/log/d975cdd0-31f4-11ea-99d9-5c514f34f247/gazebo_gui-3.log].
log file: /home/hiraoka/.ros/log/d975cdd0-31f4-11ea-99d9-5c514f34f247/gazebo_gui-3*.log

(gdb) bt
#0  0x00007ffff6a0aa76 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_first_not_of(char, unsigned long) const ()
    at /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#1  0x00007ffff6ec6acf in  ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9
#2  0x00007ffff6ed9a63 in gazebo::common::ColladaLoader::LoadPolylist(TiXmlElement*, ignition::math::v4::Matrix4<double> const&, gazebo::common::Mesh*) ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9
#3  0x00007ffff6edc859 in gazebo::common::ColladaLoader::LoadGeometry(TiXmlElement*, ignition::math::v4::Matrix4<double> const&, gazebo::common::Mesh*) ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9
#4  0x00007ffff6ede830 in gazebo::common::ColladaLoader::LoadNode(TiXmlElement*, gazebo::common::Mesh*, ignition::math::v4::Matrix4<double> const&) ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9
#5  0x00007ffff6edef89 in gazebo::common::ColladaLoader::LoadScene(gazebo::common::Mesh*) () at /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9
#6  0x00007ffff6edf4b0 in gazebo::common::ColladaLoader::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9
#7  0x00007ffff6efe89a in gazebo::common::MeshManager::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9
#8  0x00007ffff5abee8b in gazebo::physics::MeshShape::Init() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#9  0x00007ffff59d54c4 in gazebo::physics::ODEMeshShape::Init() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#10 0x00007ffff5a65762 in gazebo::physics::Collision::Init() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#11 0x00007ffff5aac27e in gazebo::physics::Link::Init() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#12 0x00007ffff59d30ae in gazebo::physics::ODELink::Init() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#13 0x00007ffff5ac9a9e in gazebo::physics::Model::Init() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#14 0x00007ffff5b13727 in gazebo::physics::World::ProcessFactoryMsgs() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#15 0x00007ffff5b1945d in gazebo::physics::World::ProcessMessages() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#16 0x00007ffff5b1ad84 in gazebo::physics::World::Step() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#17 0x00007ffff5b1b1cd in gazebo::physics::World::RunLoop() ()
    at /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.9
#18 0x00007ffff69a166f in  () at /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#19 0x00007ffff5dfd6db in start_thread (arg=0x7fff1ffff700)
    at pthread_create.c:463
#20 0x00007ffff63fc88f in clone ()
    at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

I think this is because of assimp.
This commit of assimp assimp/assimp@36e53b7#diff-758737a587ca204dec82e47c452466d2
changed the output mesh
ftom

<mesh>
  ...
  <vertices id="meshId0-vertices">
    <input semantic="POSITION" source="#meshId0-positions" />
    <input semantic="NORMAL" source="#meshId0-normals" />
  </vertices>
  <polylist count="11" material="defaultMaterial">
    <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
    <vcount>3 3 3 3 3 3 3 3 3 3 3 </vcount>
    <p>0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 17 18 15 19 20 21 21 22 19 23 24 25 26 27 28 </p>
  </polylist>
</mesh>

<mesh>
  ...
  <vertices id="meshId0-vertices">                                                                                
    <input semantic="POSITION" source="#meshId0-positions" />                                                     
  </vertices>                                                                                                     
  <polylist count="11" material="defaultMaterial">                                                                
    <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />                                             
    <input offset="0" semantic="NORMAL" source="#meshId0-normals" />                                              
    <vcount>3 3 3 3 3 3 3 3 3 3 3 </vcount>                                                                       
    <p>0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 17 18 15 19 20 21 21 22 19 23 24 25 26 27 28 </p>              
  </polylist>
</mesh>

This modification may cause index out of range at this line of gazebo.
https://bitbucket.org/osrf/gazebo/src/a3eb517b0fa58d230f87e5dadf5976b1d4f1d3c9/gazebo/common/ColladaLoader.cc?fileviewer=file-view-default#lines-1548

collada_urdf urdf to dae faile

rosrun collada_urdf urdf_to_collada ur3.urdf ur3.dae

[ERROR] [1593432530.874595068]: Could not open file [ur3.urdf] for parsing.
[ERROR] [1593432530.874709228]: failed to open urdf file ur3.urdf

collada to urdf error, invalid COLLADA version with DOM?

Hi, i'm trying to convert my .dae file (just a simple cube) to a urdf file but I get this error:

rosrun collada_urdf collada_to_urdf aq.dae sd.urdf
;; Input file is: aq.dae

[ WARN] [1627085191.502029989]: COLLADA warning: The DOM was unable to create an attribute xmlns:xsi = http://www.w3.org/2001/XMLSchema-instance at line 11.
Probably a schema violation.

[ERROR] [1627085191.502058935]: COLLADA error: Trying to load an invalid COLLADA version for this DOM build!

[ERROR] [1627085191.502253364]: COLLADA error: Failed to load XML document from memory

ERROR: Model Parsing the xml failed

I'm using ubuntu 18.0 4 using ros melodic and collada version should be 1.4.1 as it is in my .dae file:

<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">

ros / collada_urdf Goto Github PK

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