Blank image transmitted on Depth Sensor (YarpOpenraveRGBDSensor)

[jgvictores]

Blank image transmitted on Depth Sensor (YarpOpenraveRGBDSensor).

On OpenRAVE v0.9.0 without FCL, so possibly related, especially in the light of: 2019-12-15 22:31:00,928 openrave [WARN] [fclcollision.h:585 FCLCollisionChecker::CheckCollision] fcl doesn't support Ray collisions.

Note that this was contrasted not only by yarpview but also https://github.com/jgvictores/master-ipr/blob/7a6900d36a3759376b7d24da47aeb210d770cda6/examples/python/depthClient.py

[jgvictores]

Compiled OpenRAVE with FCL, documented at https://github.com/roboticslab-uc3m/installation-guides/commit/0cf20e282437bde0a68d8fa75681c52ee5e2b365.

At least as of OpenRAVE v0.9.0, the solution was actually switching the Collision Checker. This can be done via the OpenRAVE GUI (in the qtcoin viewer: Options > Collision Checkers > ode (also CacheChecker, but not sure what that means)) or openrave --collison ode.

[jgvictores]

Added warning at https://github.com/roboticslab-uc3m/openrave-yarp-plugins/commit/0d17678e5ac8104916a4fc225fb442c441211d85

[jgvictores]

All fixed and documented and working at https://github.com/roboticslab-uc3m/openrave-yarp-plugins/commit/8fcfc675d9cba54165d699ac207e52518052cc54

[jgvictores]

[fclcollision.h:585 FCLCollisionChecker::CheckCollision] fcl doesn't support Ray collisions

https://github.com/rdiankov/openrave/blob/v0.9.0/plugins/fclrave/fclcollision.h#L585

[jgvictores]

https://github.com/rdiankov/openrave/blob/v0.9.0/plugins/fclrave/fclcollision.h#L585

Which seems the same as in current master: https://github.com/rdiankov/openrave/blob/abe85928e74381d3d3d33db73693d92c9fbd7a1c/plugins/fclrave/fclcollision.h#L616