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tork-a / rtmros_nextage

ROS-OpenRTM-based opensource robot controller software for dual-armed robot Nextage from Kawada Industries
http://wiki.ros.org/rtmros_nextage
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Same COLLADA files with different names in separate packages #68

Open 130s opened 10 years ago

130s commented 10 years ago

tldr; I don't think we need to change anything regarding this(, at least for now).

nextage_ros_bridge/models/nextage.dae and nextage_description/models/main.dae look the same.

Even in its tutorial the file is copied from one to another. That said nextage_ros_bridge/models/nextage.dae may seem redundant.

 $ roscd nextage_description/models
 $ rosrun openhrp3 export-collada -i main.wrl -o main.dae
 $ cp main.dae ../../nextage_ros_bridge/nextage.dae

I assume this setting is necessary due to how the config files are auto-generated (ie. in order to remove nextage_ros_bridge/models/nextage.dae we might have to change upstream package like hrpsys_ros_robotics)?

rtmros_nextage$ grep -r nextage.dae .
Binary file ./.git/index matches
./nextage_ros_bridge/launch/nextage_ros_bridge_viz.launch:  <arg name="COLLADA_FILE" default="$(find nextage_ros_bridge)/models/nextage.dae" />
./nextage_ros_bridge/launch/nextage_ros_bridge.launch:  <arg name="COLLADA_FILE" default="$(find nextage_ros_bridge)/models/nextage.dae" />
./nextage_ros_bridge/doc/tutorial/changing_nextage_grippers_in_robot_model.wiki: $ cp main.dae ../../nextage_ros_bridge/nextage.dae
./nextage_ros_bridge/conf/nextage_nosim.xml:  <item class="com.generalrobotix.ui.item.GrxModelItem" name="nextage" url="/home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae">
./nextage_ros_bridge/conf/nextage_nosim.RobotHardware.conf:model: file:///home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
./nextage_ros_bridge/conf/nextage.xml:  <item class="com.generalrobotix.ui.item.GrxModelItem" name="nextage" url="/home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae">
./nextage_ros_bridge/conf/nextage.conf:model: file:///home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
./nextage_ros_bridge/conf/nextage_nosim.conf:model: file:///home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
./nextage_ros_bridge/conf/nextage.RobotHardware.conf:model: file:///home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
k-okada commented 10 years ago

I forget why we add two files, maybe we can remove main.dae and 

$ rosrun openhrp3 export-collada -i main.wrl -o main.dae
$ cp main.dae ../../nextage_ros_bridge/nextage.dae

can be replaced by

$ rosrun openhrp3 export-collada -i main.wrl -o  ../../nextage_ros_bridge/nextage.dae

???? but not sure.

130s commented 10 years ago

Or I feel even more comfortable to gather model files in nextage_description and remove models directory from nextage_ros_bridge. Is it not feasible?

k-okada commented 10 years ago

Yes, I think is is possible. One problem of current nextage_description is there are no information on how to convert WRL to collada/urdf and nextage_ros_bridge have them (just for collada). So desirable procedure is 1) update nextage_description/CMakeLists.txt to convert wrl to urdf and dae and commit them 2) remove model file from nextage_ros_bridge.

130s commented 9 years ago

One problem of current nextage_description is there are no information on how to convert WRL to collada/urdf and nextage_ros_bridge have them (just for collada). So desirable procedure is 1) update nextage_description/CMakeLists.txt to convert wrl to urdf and dae and commit them 2) remove model file from nextage_ros_bridge.

(2) should be done in https://github.com/tork-a/rtmros_nextage/pull/136.

For (1) I tried (it can be found in https://github.com/130s/rtmros_nextage/commit/867128392f3e34f2526e5545fdf5f360da1544c2) but haven't got it working so far.

k-okada commented 9 years ago

(it can be found in 130s@8671283)

seems ok for me, see https://github.com/fkanehiro/openhrp3/blob/master/sample/CMakeLists.txt for

working version. Please create PR to see error message on travis.

◉ Kei Okada

On Thu, Dec 25, 2014 at 5:03 PM, Isaac I.Y. Saito notifications@github.com wrote:

One problem of current nextage_description is there are no information on how to convert WRL to collada/urdf and nextage_ros_bridge have them (just for collada). So desirable procedure is 1) update nextage_description/CMakeLists.txt to convert wrl to urdf and dae and commit them 2) remove model file from nextage_ros_bridge.

(2) should be done in #136 https://github.com/tork-a/rtmros_nextage/pull/136.

For (1) I tried (it can be found in 130s@8671283 https://github.com/130s/rtmros_nextage/commit/867128392f3e34f2526e5545fdf5f360da1544c2) but haven't got it working so far.

— Reply to this email directly or view it on GitHub https://github.com/tork-a/rtmros_nextage/issues/68#issuecomment-68092827 .