search

blodow / realtime_urdf_filter

ROS package that can filter geometry defined in URDF models from Kinect depth images. Can also preprocess data for the OpenNI tracker, to remove backgrounds, robots etc.
Other
89 stars 46 forks source link

wrong link transformation #35

Open christian-rauch opened 3 years ago

christian-rauch commented 3 years ago

I am using a URDF model of a Franka Emika https://github.com/frankaemika/franka_ros which renders fine in RViz but has wrong link transformations in the URDF filter renderer: Screenshot from 2021-07-30 19-29-19

My best guess is that there are additional transformations stored in the meshes that are ignored in the URDF renderer.

liderbo123 commented 3 years ago

Hello! Could you show me your launch file? When I move the robot, there are some residual point clouds, and I don't know what to do.

blodow commented 3 years ago

Collada might not be supported in its entirety. It seems we're loading the assimp scene wrong in RenderableMesh::fromAssimpScene. I think this is the issue: https://gamedev.stackexchange.com/a/102091

Unfortunately, I don't have time to do that. As a workaround, or if the fix in the link does not work here, a simple hack might be to convert the meshes to a different format and include those in the urdf.

liderbo123 commented 3 years ago

@blodow Thank you for your reply! I tried adjusting parameters of “camera offset”, but it had no effect. The residual points still existed.