Currently, mesh navigation needs a HDF5 mesh to function.
There is a CLI tool in lvr2 with which one can convert different mesh formats to a .h5 mesh. The conversion only works for simple input formats, e.g. .ply.
The goal of this issue is to have an easy to use converter in the mesh_tools pkg, accessible via ros2 cli tools. It is sufficient if it only supports .ply files, but more would be nice. Though only if it works reliably.
When converting, check
the existing lvr2 script
where the mesh_map in mesh_navigation loads maps and precomputes values
and consider
normals (calculations seem off; use weighted face normals instead)
Currently, mesh navigation needs a HDF5 mesh to function. There is a CLI tool in
lvr2with which one can convert different mesh formats to a.h5mesh. The conversion only works for simple input formats, e.g..ply.The goal of this issue is to have an easy to use converter in the
mesh_toolspkg, accessible via ros2 cli tools. It is sufficient if it only supports.plyfiles, but more would be nice. Though only if it works reliably.When converting, check
and consider