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ros-industrial / ros_industrial_issues

Repository for tracking common ROS-Industrial issuses.
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Investigate use of .zae for pkgs with Collada meshes #68

Closed gavanderhoorn closed 2 years ago

gavanderhoorn commented 4 years ago

As per subject.

Assimp 5 supports loading .zae, which is the compressed version of Collada.

Afaict, "only" zip compression is supported, but this could already save up to 90% on some meshes. As Collada is a popular mesh format for robot support packages which include more detailed meshes.

Ubuntu Focal comes with Assimp 5.0.1, so it could be interesting to see whether this would allow us to reduce installed size of robot support packages.

traversaro commented 4 years ago

I do not know how many ROS-Industrial robots model are expected to be used with Gazebo, but given that Gazebo use its own Collada-parser instead of Assimp, note that probably any model that uses .zae will not be able to be loaded in Gazebo.

gavanderhoorn commented 4 years ago

I would almost say "that's too bad for Gazebo then, they shouldn't have used a custom parser", as that is exactly why you shouldn't do that. It essentially means that Gazebo doesn't properly support Collada 1.5.

But of course, I can't say that.

So we'll have to take this into account.

I'm not closing this immediately as I'll see what the status of Collada support is in Gazebo.

gavanderhoorn commented 2 years ago

We're not going to do this.

Seems there is too much variation in loaders being used, and compressed Collada is not supported by all of them.

Oh well.