search

srmainwaring / asv_wave_sim

This package contains plugins that support the simulation of waves and surface vessels in Gazebo.
GNU General Public License v3.0
114 stars 31 forks source link

Improve warning if model is missing a collision mesh #21

Open srmainwaring opened 2 years ago

srmainwaring commented 2 years ago

The hydrodynamics plugin assumes that all links of a model have a valid collision mesh. If the mesh is missing the plugin fails to load correctly but does not supply a very helpful warning.

Suggested behaviour:

  1. Either - ignore links with missing collision meshes
  2. Or - emit a better error and report which link(s) are missing collision meshes

It may also be worth emitting warnings when the collision mesh contains a large number of vertices or near degenerate triangles which will give rise to poor numerical behaviour.