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osrf / rvizweb

RVizWeb: RViz on the browser
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PR2 robot model is not shown in Rvizweb #31

Open knorth55 opened 5 years ago

knorth55 commented 5 years ago

Some links in PR2 are not shown in Rvizweb. The issue is reported in https://github.com/osrf/rvizweb/pull/12#issuecomment-453648889, but I could not find out how to fix this problem.

rvizweb_pr2

chapulina commented 5 years ago

What distro are you in, and if you built any dependencies from source, what are their versions?

Also, do you see any error messages on the browser console? I'd expect some network errors failing to fetch mesh files.

knorth55 commented 5 years ago

my distro is Kinetic. I install all PR2 dependencies in apt.

$ dpkg -l | grep pr2
ii  libgvpr2                                                    2.38.0-12ubuntu2.1                                    amd64        rich set of graph drawing tools - gvpr library
ii  ros-kinetic-moveit-pr2                                      0.7.0-2xenial-20190220-182036-0800                    amd64        All PR2-specific packages for MoveIt
ii  ros-kinetic-power-monitor                                   1.1.7-0xenial-20181217-091544-0800                    amd64        The power_monitor collects messages from the ocean_battery_server and the pr2_power_board, and publishes a summary of their data in a friendlier message format.
ii  ros-kinetic-pr2-arm-kinematics                              1.0.9-0xenial-20181117-033150-0800                    amd64        This package provides a kinematics implementation for the PR2 robot.
ii  ros-kinetic-pr2-bringup                                     1.6.30-0xenial-20190220-183813-0800                   amd64        Launch files and scripts needed to bring a PR2 up into a running state.
ii  ros-kinetic-pr2-calibration-controllers                     1.10.14-0xenial-20190220-182948-0800                  amd64        The pr2_calibration_controllers package contains the controllers used to bring all the joints in the PR2 to a calibrated state.
ii  ros-kinetic-pr2-calibration-launch                          1.0.11-0xenial-20190220-182813-0800                   amd64        Launch files and configuration files needed to run the calibration pipeline on PR2.
ii  ros-kinetic-pr2-camera-synchronizer                         1.6.30-0xenial-20190211-091940-0800                   amd64        The PR2 is equipped with a texture projector that can be used to project a texture onto featureless surfaces, allowing their three-dimensional structure to be determined using stereoscopy.
ii  ros-kinetic-pr2-common-action-msgs                          0.0.10-0xenial-20181107-005332-0800                   amd64        The pr2_common_action_msgs package
ii  ros-kinetic-pr2-computer-monitor                            1.6.30-0xenial-20181107-011503-0800                   amd64        Monitors the computer's processor and hard drives of the PR2 and publishes data to diagnostics.
ii  ros-kinetic-pr2-controller-configuration                    1.6.30-0xenial-20190220-183444-0800                   amd64        Configuration files for PR2 controllers.
ii  ros-kinetic-pr2-controller-configuration-gazebo             2.0.11-0xenial-20190220-184328-0800                   amd64        A copy of the pr2_controller_configuration package, for use in the PR2 simulator.
ii  ros-kinetic-pr2-controller-interface                        1.8.17-0xenial-20181107-065858-0800                   amd64        This package specifies the interface to a realtime controller.
ii  ros-kinetic-pr2-controller-manager                          1.8.17-0xenial-20190211-083816-0800                   amd64        The controller manager (CM) package provides the infrastructure to run controllers in a hard realtime loop.
ii  ros-kinetic-pr2-controllers-msgs                            1.10.14-0xenial-20181107-005349-0800                  amd64        Messages, services, and actions used in the pr2_controllers stack.
ii  ros-kinetic-pr2-dashboard-aggregator                        1.12.2-0xenial-20181107-045326-0800                   amd64        A simple script that aggregates all of the topics that a "pr2_dashboard" app might be interested in.
ii  ros-kinetic-pr2-dense-laser-snapshotter                     1.0.11-0xenial-20181107-045305-0800                   amd64        Stores the data from a series of laser scan messages in a dense representation, allowing users to easily perform image-like operations on intensity or range data.
ii  ros-kinetic-pr2-description                                 1.12.2-0xenial-20180825-012325-0800                   amd64        This package contains the description (mechanical, kinematic, visual, etc.) of the PR2 robot.
ii  ros-kinetic-pr2-ethercat                                    1.6.30-0xenial-20190211-084330-0800                   amd64        Main loop that runs the robot.
ii  ros-kinetic-pr2-gazebo                                      2.0.11-0xenial-20190220-184536-0800                   amd64        Launch scripts for simulating the PR2 in gazebo.
ii  ros-kinetic-pr2-gazebo-plugins                              2.0.11-0xenial-20190211-090946-0800                   amd64        Gazebo Plugins for various PR2-specific sensors and actuators on the robot.
ii  ros-kinetic-pr2-gripper-action                              1.10.14-0xenial-20190220-182933-0800                  amd64        The pr2_gripper_action provides an action interface for using the gripper.
ii  ros-kinetic-pr2-gripper-sensor-action                       1.0.10-0xenial-20190220-182934-0800                   amd64        The pr2_gripper_sensor_action package provides an action interface for talking to the pr2_gripper_sensor_controller real-time controller.
ii  ros-kinetic-pr2-gripper-sensor-controller                   1.0.10-0xenial-20190211-084224-0800                   amd64        The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
ii  ros-kinetic-pr2-gripper-sensor-msgs                         1.0.10-0xenial-20181107-010154-0800                   amd64        The pr2_gripper_sensor_msgs package contains various actions and messages that are used in the pr2_gripper_sensor* packages.
ii  ros-kinetic-pr2-hardware-interface                          1.8.17-0xenial-20181107-011039-0800                   amd64        This package contains the C++ interfaces to the PR2 hardware components that are controlled over EtherCAT.
ii  ros-kinetic-pr2-head-action                                 1.10.14-0xenial-20181117-015610-0800                  amd64        The PR2 head action is a node that provides an action interface for pointing the head of the PR2.
ii  ros-kinetic-pr2-machine                                     1.12.2-0xenial-20180809-140450-0800                   amd64        This package contains the xxx.machine files that describe the different hosts a node can be spawned on.
ii  ros-kinetic-pr2-mannequin-mode                              0.6.0-0xenial-20190211-090952-0800                    amd64        The pr2_mannequin_mode package
ii  ros-kinetic-pr2-mechanism-controllers                       1.10.14-0xenial-20190220-182338-0800                  amd64        The pr2_mechanism_controllers package contains realtime controllers that are meant for specific mechanisms of the PR2.
ii  ros-kinetic-pr2-mechanism-diagnostics                       1.8.17-0xenial-20181107-045941-0800                   amd64        The `pr2_mechanism_diagnostics` node subscribes to `mechanism_statistics` and publishes diagnostics data for joints and controllers on `/diagnostics`.
ii  ros-kinetic-pr2-mechanism-model                             1.8.17-0xenial-20181107-045351-0800                   amd64        This package contains the robot model that is used by the realtime controllers inside controller manager.
ii  ros-kinetic-pr2-mechanism-msgs                              1.8.2-0xenial-20181107-005353-0800                    amd64        This package defines services that are used to communicate with the realtime control loop.
ii  ros-kinetic-pr2-move-base                                   0.1.28-0xenial-20181107-011505-0800                   amd64        pr2_move_base
ii  ros-kinetic-pr2-moveit-config                               0.7.0-2xenial-20181117-045258-0800                    amd64        An automatically generated package with all the configuration and launch files for using the pr2 with the MoveIt Motion Planning Framework
ii  ros-kinetic-pr2-moveit-plugins                              0.7.0-2xenial-20190220-180235-0800                    amd64        PR2 specific plugins for MoveIt
ii  ros-kinetic-pr2-msgs                                        1.12.2-0xenial-20181107-011029-0800                   amd64        Messages for representing PR2 state, such as battery information and the PR2 fingertip sensors.
ii  ros-kinetic-pr2-navigation-config                           0.1.28-0xenial-20181117-040917-0800                   amd64        This package holds common configuration files for running the
ii  ros-kinetic-pr2-navigation-global                           0.1.28-0xenial-20181117-041700-0800                   amd64        This package holds XML files for running the
ii  ros-kinetic-pr2-navigation-perception                       0.1.28-0xenial-20181117-021114-0800                   amd64        This package holds navigation-specific sensor configuration options and launch files for the PR2.
ii  ros-kinetic-pr2-navigation-self-filter                      0.1.28-0xenial-20181117-013640-0800                   amd64        Filters the robot's body out of point clouds.
ii  ros-kinetic-pr2-power-board                                 1.1.7-0xenial-20181217-091900-0800                    amd64        This provides a ROS node for the PR2 Power Board.
ii  ros-kinetic-pr2-run-stop-auto-restart                       1.6.30-0xenial-20181217-093128-0800                   amd64        This package provides a node that monitors the state of the run stops of the pr2_robot.
ii  ros-kinetic-pr2-simulator                                   2.0.11-0xenial-20190220-185734-0800                   amd64        The pr2_simulator package
ii  ros-kinetic-pr2-teleop                                      0.6.0-0xenial-20181117-015844-0800                    amd64        The pr2_teleop package
ii  ros-kinetic-pr2-teleop-general                              0.6.0-0xenial-20190211-091810-0800                    amd64        pr2_teleop_general
ii  ros-kinetic-pr2-tuck-arms-action                            0.0.10-0xenial-20181107-010201-0800                   amd64        The pr2_tuck_arms_action package
ii  ros-kinetic-pr2eus                                          0.3.14-0xenial-20190220-185715-0800                   amd64        pr2eus
ii  ros-kinetic-pr2eus-moveit                                   0.3.14-0xenial-20190220-191118-0800                   amd64        pr2eus_moveit

console output is below.

THREE.ColladaLoader: DOMParser: 1.48388671875ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 5.512939453125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 2.64013671875ms
ros3d.js:3345 THREE.ColladaLoader: 12.210205078125ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.244140625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 5.470947265625ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.43896484375ms
ros3d.js:3345 THREE.ColladaLoader: 11.81103515625ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.176025390625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 4.27783203125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.501953125ms
ros3d.js:3345 THREE.ColladaLoader: 13.039794921875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.219970703125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 4.596923828125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.47607421875ms
ros3d.js:3345 THREE.ColladaLoader: 14.581787109375ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 9.343017578125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 2.889892578125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.7900390625ms
ros3d.js:3345 THREE.ColladaLoader: 20.0830078125ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 2.377197265625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 4.486083984375ms
ros3d.js:3336 THREE.ColladaLoader: Build: 3.27783203125ms
ros3d.js:3345 THREE.ColladaLoader: 13.732177734375ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 2.498779296875ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 4.06494140625ms
ros3d.js:3336 THREE.ColladaLoader: Build: 4.406005859375ms
ros3d.js:3345 THREE.ColladaLoader: 14.030029296875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.9541015625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.85400390625ms
ros3d.js:3336 THREE.ColladaLoader: Build: 5.695068359375ms
ros3d.js:3345 THREE.ColladaLoader: 15.538818359375ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 5.7900390625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 4.58203125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 2.3037109375ms
ros3d.js:3345 THREE.ColladaLoader: 15.876708984375ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.200927734375ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 2.9638671875ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.521728515625ms
ros3d.js:3345 THREE.ColladaLoader: 10.800048828125ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.98095703125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.632080078125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.446044921875ms
ros3d.js:3345 THREE.ColladaLoader: 10.4912109375ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.430908203125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.7119140625ms
ros3d.js:3336 THREE.ColladaLoader: Build: 2.662353515625ms
ros3d.js:3345 THREE.ColladaLoader: 10.89013671875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.98681640625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.114990234375ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.685791015625ms
ros3d.js:3345 THREE.ColladaLoader: 10.77197265625ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.56494140625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.617919921875ms
ros3d.js:3336 THREE.ColladaLoader: Build: 2.845947265625ms
ros3d.js:3345 THREE.ColladaLoader: 11.115234375ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.2119140625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 6.08203125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.44189453125ms
ros3d.js:3345 THREE.ColladaLoader: 13.840087890625ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 2.00830078125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.844970703125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.52197265625ms
ros3d.js:3345 THREE.ColladaLoader: 11.03076171875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.18603515625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 6.864990234375ms
ros3d.js:3336 THREE.ColladaLoader: Build: 2.14697265625ms
ros3d.js:3345 THREE.ColladaLoader: 13.7978515625ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.205078125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.227294921875ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.462890625ms
ros3d.js:3345 THREE.ColladaLoader: 10.773193359375ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.31396484375ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 4.18505859375ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.463134765625ms
ros3d.js:3345 THREE.ColladaLoader: 10.35009765625ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.462890625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 4.057861328125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.414794921875ms
ros3d.js:3345 THREE.ColladaLoader: 10.610107421875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.287841796875ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.971923828125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.4970703125ms
ros3d.js:3345 THREE.ColladaLoader: 10.01904296875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.20703125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.882080078125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 3.23291015625ms
ros3d.js:3345 THREE.ColladaLoader: 11.491943359375ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.34375ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 2.9150390625ms
ros3d.js:3336 THREE.ColladaLoader: Build: 2.223876953125ms
ros3d.js:3345 THREE.ColladaLoader: 9.763916015625ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.64306640625ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.405029296875ms
ros3d.js:3345 THREE.ColladaLoader: 7.39501953125ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.238037109375ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.614013671875ms
ros3d.js:3336 THREE.ColladaLoader: Build: 17.024169921875ms
ros3d.js:3345 THREE.ColladaLoader: 23.0029296875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 24.757080078125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 4.797119140625ms
ros3d.js:3336 THREE.ColladaLoader: Build: 2.8232421875ms
ros3d.js:3345 THREE.ColladaLoader: 34.675048828125ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 2.3837890625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 7.002197265625ms
ros3d.js:3336 THREE.ColladaLoader: Build: 3.41796875ms
ros3d.js:3345 THREE.ColladaLoader: 14.567138671875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.491943359375ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.8271484375ms
ros3d.js:3336 THREE.ColladaLoader: Build: 3.489990234375ms
ros3d.js:3345 THREE.ColladaLoader: 13.5380859375ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 6.157958984375ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 3.189208984375ms
ros3d.js:3336 THREE.ColladaLoader: Build: 1.343994140625ms
ros3d.js:3345 THREE.ColladaLoader: 14.199951171875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 1.99609375ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 33.5341796875ms
ros3d.js:3336 THREE.ColladaLoader: Build: 4.77587890625ms
ros3d.js:3345 THREE.ColladaLoader: 44.155029296875ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 2.526123046875ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 12.01611328125ms
ros3d.js:3336 THREE.ColladaLoader: Build: 7.02001953125ms
ros3d.js:3345 THREE.ColladaLoader: 26.177001953125ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 2.64892578125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 17.5029296875ms
ros3d.js:3336 THREE.ColladaLoader: Build: 12.1953125ms
ros3d.js:3345 THREE.ColladaLoader: 37.69384765625ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 3.02978515625ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 15.9150390625ms
ros3d.js:3336 THREE.ColladaLoader: Build: 6.39111328125ms
ros3d.js:3345 THREE.ColladaLoader: 28.30908203125ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 3.64501953125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 19.858154296875ms
ros3d.js:3336 THREE.ColladaLoader: Build: 5.722900390625ms
ros3d.js:3345 THREE.ColladaLoader: 33.298828125ms
ros3d.js:3333 THREE.ColladaLoader: DOMParser: 4.057861328125ms
ros3d.js:3334 THREE.ColladaLoader: File version 1.4.1
ros3d.js:3336 THREE.ColladaLoader: Parse: 13.96875ms
ros3d.js:3336 THREE.ColladaLoader: Build: 7.47998046875ms
ros3d.js:3345 THREE.ColladaLoader: 27.4541015625ms
knorth55 commented 5 years ago

I launch like this

roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch rvizweb rvizweb.launch
jubeira commented 5 years ago

This is happening since we updated THREE.js version as pointed out in the issue description.

Note however that the problem is with PR2's mesh in particular, not all meshes. I've tried other meshes like Turtlebot and UR arms and they worked well (see this comment for reference).

@chapulina the meshes of the PR2 are several years old now; perhaps there's some format incompatibility, and the logs show no errors when loading. This doesn't seem to be a general problem with meshes but a particular one with PR2, so unless more cases like this appear I'd say the problem is not critical.

I'll take a look anyways and see if there's anything that can be done with the current library.

knorth55 commented 5 years ago

Note however that the problem is with PR2's mesh in particular, not all meshes. I've tried other meshes like Turtlebot and UR arms and they worked well (see this comment for reference).

Yes, I already tried baxter, UR and turtlebot and it works! I will look in to find out how to solve this issue, too.

chapulina commented 5 years ago

This is happening since we updated THREE.js version as pointed out in the issue description.

Oh ok, I didn't realize the PR2 hadn't been fixed after the referenced comment.

the meshes of the PR2 are several years old now; perhaps there's some format incompatibility

We had previously noted that the PR2 textures weren't well supported because they're in the TIFF format: https://github.com/osrf/polymer-ros-rviz/issues/3 , maybe it could be related? I wouldn't expect them to show transparent in this case though... Maybe it's worth trying to convert them to png and see if it works just in case.

knorth55 commented 5 years ago

I convert all *.tif to *.png for PR2 meshes and change to access localhost -> 127.0.0.1, and it works. Related issue: https://github.com/RobotWebTools/ros3djs/issues/209

pr2_rvizweb

knorth55 commented 5 years ago

https://github.com/RobotWebTools/ros3djs/issues/209#issuecomment-357942246 this comment have detailed explanation about this bug.

jubeira commented 5 years ago

Thanks for the pointers and the update @knorth55!

@chapulina please let me know if you think we should still look into this (although the solution might be patching the dependencies?), or if adding a notice in the documentation is enough.

chapulina commented 5 years ago

We could make a PR to pr2_common updating the textures and see what they say.

We could also try the suggestion on https://github.com/PR2/pr2_common/issues/226#issuecomment-29232357 and "do the tiff to png conversion on the fly whenever a browser requests a texture", but this feels overkill just to get the PR2 to work.

It's worth mentioning that the previous THREE.js version did show the tiff textures, but they weren't lit properly. So there may be something we can improve in the front-end, but again, I think it's not worth it just for the PR2.

I'm in favor of updating the README examples not to use the PR2 and close this issue. People having the same problem should hopefully get to this issue for reference and we can always accept pull requests improving tiffs if someone feels strongly about the PR2.

knorth55 commented 5 years ago

There are two problems.

  1. pr2_description depends on *.tif I want to solve this issue because we still uses PR2. I can make PR to suggest to add PR2 dae models with png files or support tif textures.

  2. localhost cannot show correct meshes I'm not familiar with these issues, but according to https://github.com/RobotWebTools/ros3djs/issues/209#issuecomment-357942246 , meshes cannot be loaded with localhost. but this comment https://github.com/RobotWebTools/ros3djs/issues/209#issuecomment-360188800, suggest that we can load the model with 127.0.0.1.

jubeira commented 5 years ago

I'm in favor of updating the README examples not to use the PR2 and close this issue. People having the same problem should hopefully get to this issue for reference and we can always accept pull requests improving tiffs if someone feels strongly about the PR2.

:+1:

I can make PR to suggest to add PR2 dae models with png files or support tif textures.

@knorth55 sounds good. Note that in the comment referenced above (https://github.com/PR2/pr2_common/issues/226#issuecomment-29232357) the first suggestion is adding a buildstep that converts the meshes to png. That could work, and maybe it's more likely to be accepted upstream rather than just replacing the meshes.

localhost cannot show correct meshes

Does that happen to you with Turtlebot and Baxter as well? From https://github.com/osrf/rvizweb/issues/31#issuecomment-479907338 I understood those meshes could be loaded without problems.

knorth55 commented 5 years ago

Does that happen to you with Turtlebot and Baxter as well? From #31 (comment) I understood those meshes could be loaded without problems.

@jubeira No, it does not happen with Turtlebot and Baxter.

yzczuzu commented 5 years ago

I convert all *.tif to *.png for PR2 meshes and change to access localhost -> 127.0.0.1, and it works. Related issue: RobotWebTools/ros3djs#209

pr2_rvizweb

how to convert all .tif to .png for PR2 meshes?

yzczuzu commented 5 years ago

PR2 robot model is not shown in Rvizweb!!!

knorth55 commented 5 years ago

@yzczuzu you can use convert command in Ubuntu. I convert all .png to .tiff manually.

yzczuzu commented 5 years ago

@yzczuzu you can use convert command in Ubuntu. I convert all .png to .tiff manually.

ubuntu@ubuntu:~/catkin_ws/src$ convert .tiff .png convert: unable to open image *.tiff': No such file or directory @ error/blob.c/OpenBlob/2712. convert: no images defined*.png' @ error/convert.c/ConvertImageCommand/3210.

It is not working when I am running this command.

yzczuzu commented 5 years ago

ubuntu@ubuntu:~/catkin_ws/src$ convert .tiff .png convert: unable to open image *.tiff': No such file or directory @ error/blob.c/OpenBlob/2712. convert: no images defined*.png' @ error/convert.c/ConvertImageCommand/3210.

@knorth55

jubeira commented 5 years ago

@yzczuzu you need to be in the directory where the tiff images are for that to work. Those should be where you have pr2_description package installed.

yzczuzu commented 5 years ago

@yzczuzu you need to be in the directory where the tiff images are for that to work. Those should be where you have pr2_description package installed.

ubuntu@ubuntu:~/Desktop/pr2_common-melodic-devel/pr2_description$ convert .tiff .png convert: unable to open image *.tiff': No such file or directory @ error/blob.c/OpenBlob/2712. convert: no images defined*.png' @ error/convert.c/ConvertImageCommand/3210.

I did that in the pr2_description. But still not working. Can u tell me how to do that in detail??? @jubeira @knorth55

knorth55 commented 5 years ago

@yzczuzu The error message said that there is no *.tiff file in the directory. it means there is no *.tiff files in the current directory. You need to move to dir where *.tiff exists and run the command. Also you need to import *.tiff in URDF. However if impossible, you can use my branch https://github.com/knorth55/pr2_common/tree/mesh-png

yzczuzu commented 5 years ago

@yzczuzu The error message said that there is no *.tiff file in the directory. it means there is no *.tiff files in the current directory. You need to move to dir where *.tiff exists and run the command. Also you need to import *.tiff in URDF. However if impossible, you can use my branch https://github.com/knorth55/pr2_common/tree/mesh-png

I download your branch. Then I launch the simulation by command roslaunch pr2_gazebo pr2_empty_world.launch. Then I launch RvizWeb by command roslaunch rvizweb rvizweb.launch But the PR2 robot model is still not shown in Rvizweb. @knorth55

knorth55 commented 5 years ago

@yzczuzu I cannot reproduce your error, so I cannot help you. this issues is reported as "we cannot show PR2 in rvizweb". I could show PR2 in rvizweb in my own environment, but it is not officially supported. It means that we still don't know how to show PR2 model in rvizweb stably in all environment. Also, rvizweb maintainers are shifting from PR2 to turtlebot, so if you still want to show PR2 in rvizweb, you should debug it by yourself. My colleague also reported that he cannot show PR2 in rvizweb with my method, so I'm debugging by myself, too. (However, I could not find out how to do it)

yzczuzu commented 5 years ago

@yzczuzu I cannot reproduce your error, so I cannot help you. this issues is reported as "we cannot show PR2 in rvizweb". I could show PR2 in rvizweb in my own environment, but it is not officially supported. It means that we still don't know how to show PR2 model in rvizweb stably in all environment. Also, rvizweb maintainers are shifting from PR2 to turtlebot, so if you still want to show PR2 in rvizweb, you should debug it by yourself. My colleague also reported that he cannot show PR2 in rvizweb with my method, so I'm debugging by myself, too. (However, I could not find out how to do it)

Thanks for helping!