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naturerobots / mesh_navigation

Mesh Navigation Stack
BSD 3-Clause "New" or "Revised" License
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MeshTools RViz plugin changed #17

Open sumana78 opened 3 years ago

sumana78 commented 3 years ago

Hi, thank you for building this amazing package for mesh navigation. I am working on a project with point cloud data and was trying to use this package for building path planning algorithms. While running the pluto-robot examples, the textured mesh fails to load and throws an error. I installed the mesh_navigation package through the official ros package list and built the pluto_robot from source as provided in the repository. Also, I installed the uos_common_urdf and the robot_pose_ekf package from the ros package list as they were the dependency error thrown by gazebo while first launching the launch files.

Steps Followed:

roslaunch pluto_gazebo pluto_botanical_garden.launch
roslaunch pluto_navigation botanical_garden_osnabruck.launch

While running this, the robot model is represented but the textured mesh is not being loaded.

The error in RViz is:

TexturedMesh
The class required for this display, 'rviz_map_plugin/Mesh', could not be loaded.
Error:
Failed to load library /opt/ros/melodic/lib//librviz_map_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /opt/ros/melodic/lib/libhdf5_map_io.so: undefined symbol: _ZN3MPI8Datatype4FreeEv)

Really hoping to receive some help regarding this.

Thank you

spuetz commented 3 years ago

We have just released a new version of lvr2. This is a requirement for lvr2 to be installed as a dependency of MeshTools under Noetic. As soon as the lvr2 version is moved from the testing release repository to the official repositories, we will release the mesh_tools package in a new version that solves the problem.

Until then, however, all components can be built from source.

sumana78 commented 3 years ago

@spuetz Thank you for your response. We built it from source and its working properly. We generated our customized mesh using lvr2_reconstruct and converted it to h5 using lvr2_hdf5_mesh_tool. The mesh loads correctly to RViz but for some reason the vertex costs are not visible for any layer(height diff, inflation, roughness). Would really appreciate your help with solving this issue.