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AndrejOrsula / ign_moveit2_examples

C++ and Python examples of using MoveIt 2 inside Ignition Gazebo simulation environment
BSD 3-Clause "New" or "Revised" License
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Scaling of robot model in RViz with collision meshes from .stl files #17

Closed marc-wittwer closed 2 years ago

marc-wittwer commented 2 years ago

If I add a 20mm cube from an .stl file as a collision mesh to the moveit scene. The cube is 20 times bigger than the panda robot.

image

Which unit system is configured in the examples? How can i configure RViz to display my .stl cube correctly?

The used .stl file of a 20mm cube: https://www.thingiverse.com/thing:34553

My goal is to create a 3D occupancy map by spawning cube as collision meshes at the corresponding coordinates for the moveit planning scene. Is there a better way to achieve this?

Thanks in advance for your hints.

AndrejOrsula commented 2 years ago

Metres. Your model is most likely exported as 20 metres instead of millimetres. Try using some software (e.g. Blender) to scale it down and re-export.

This issue has nothing to do with this repository. Also, could you please close your other issues if they are resolved? Thanks.