urdf_to_collada: cylinder geometry not generated properly about collada_urdf HOT 8 CLOSED

Awesome, got it to work! Set the magic number to 1000 instead of 100. It may be easier to just make the number of vertices dependent on the cylinder radius; That would prevent any need for exposing an additional parameter. I believe that this is how the sphere is handled. I'll create a pull request as soon as I get a chance.

Thanks!

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Fixed in moveit/geometric_shapes#92

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Thanks for the bug report! I don't think I will have time to investigate this week. Would you mind checking if a URDF with a single link with a single cylinder reproduces the problem?

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Indeed, here are the results for a single link.

foobar_arm_minimal.urdf.txt
out_minimal.dae.txt

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Thanks for the single link case! It looks like geometric_shapes has a hard coded parameter defining the number of triangles to use when creating a mesh for a cylinder. It results in a pretty small number of triangles for a cylinder of radius 0.05. A workaround would be to build geometric_shapes from source and increase the value.

https://github.com/ros-planning/geometric_shapes/blob/66352a742520f71e19a32139ec7463dcefe3b451/src/mesh_operations.cpp#L515-L516

If createMeshFromShape(Cylinder) parameterized this value, it would need to be passed through urdf_to_collada here.

I don't think I will be able to implement this anytime soon. If you happen to fix it a pull request would be welcome.

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@bkinman Do you know if there has been any movement over at ros/geometric_shapes on exposing the number as a parameter?

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Closing since this was solved upstream

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