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ROS 3D Robot Visualizer
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RobotModelDisplay: wrong orientation of rotation axis for some robots/joints #1787

Closed simonschmeisser closed 1 year ago

simonschmeisser commented 1 year ago

grafik

For some robot models (UR, Techman, Doosan) the display of rotation axis is incorrect. The screenshot shows joint 6 or wrist_3_joint and should obviously point up or down, ie rotate around the end effector

Describe your issue here and explain how to reproduce it.

Your environment

[INFO] [1679993270.044010752]: rviz version 1.14.19
[INFO] [1679993270.044065063]: compiled against Qt version 5.15.7
[INFO] [1679993270.044078448]: compiled against OGRE version 1.9.0 (Ghadamon)
[INFO] [1679993270.054538631]: Forcing OpenGl version 0.
[INFO] [1679993270.269967668]: Stereo is NOT SUPPORTED
[INFO] [1679993270.270020407]: OpenGL device: RENOIR (renoir, LLVM 15.0.6, DRM 3.47, 5.19.0-35-generic)
[INFO] [1679993270.270035786]: OpenGl version: 4,6 (GLSL 4,6) limited to GLSL 1.4 on Mesa system.
rhaschke commented 1 year ago

I ran into this issue recently as well and pushed a fixup: 88dd507a299b9c40ea494010810d18db16ea6366 Can you please verify if that fixes your issue. If so, I should maybe trigger a new release...

simonschmeisser commented 1 year ago

Oh I missed this since I only looked at noetic-devel

the call to axis_->setOrientation will be overwritten by the later call to setDirection actually.

I'm not currently seeing an effect of the patch ~but I might need a clean build as well~.

rhaschke commented 1 year ago

Looks like https://github.com/ros-visualization/rviz/commit/88dd507a299b9c40ea494010810d18db16ea6366 addressed another issue. Please review #1788, which should fix this one here.

simonschmeisser commented 1 year ago

closed via #1788