Is it possible to visualize texture/color of the mesh object as collision object?

moveit / moveit_visual_tools

Helper functions for displaying and debugging MoveIt! data in Rviz via published markers

BSD 3-Clause "New" or "Revised" License

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Is it possible to visualize texture/color of the mesh object as collision object? #80

Open DangMinh24 opened 3 years ago

DangMinh24 commented 3 years ago

Hi all,

I wonder if it possible to visualize collision object along with a texture file? So far for all collisions object, I can only visualize with single color only.

JafarAbdi commented 3 years ago

Hi @DangMinh24,

Currently, this functionality isn't available yet but there's a discussion for adding it

felixvd commented 3 years ago

Using textures and multiple colors would go beyond that discussion though. I don't think we have a mechanism to represent that in the CollisionObject message, but I would be all for adding something like VisualGeometry.