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ubi-agni / agni_robots

Description of robots and combination of robots used at ubi-agni
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Duplicate material entries in URDF causes issue to joint_state_publisher #3

Open guihomework opened 2 years ago

guihomework commented 2 years ago

When starting a BiManual setup with agni_description (typically sfb setup) multiple material descriptions are added to the full _robotdescription, probably since this addition https://github.com/ubi-agni/agni_robots/blob/d6be5bec98bfcfcc74d763557db3ba01eb063264/agni_description/robots/shadow_hand.urdf.xacro#L4 which causes issues for the joint_state_publisher required in the jsmerger.launch due to duplicate materials (even triple sincesfb.urdf.xacro used to load materials once for the entire setup)

/vol/....../agni_deploy/launch/jsmerger.launch

[ERROR] [1658945140.050018284]: material 'Blue' is not unique.

standalone hands never had issues with missing material in the past, even when started in simulation, so I am not sure why this addition was needed now.

rhaschke commented 2 years ago

Is this just a cosmetic issue, i.e. did everything still work as expected and you just want to get rid of the error messages (which actually should be warnings only)?

guihomework commented 2 years ago

our vdemo component jsmerger fails the "check" and stops, so the error is probably significant, because when the duplicate entries are removed, the vdemo check passes. I did not look further.

rhaschke commented 2 years ago

For now, I resetted melodic-devel to its old state. Looks like I rebased my noetic-devel changes to melodic-devel to try them there as well. But I didn't finish this work yet...

rhaschke commented 2 years ago

There was another duplicate material (dark_grey) in ubi-noetic-devel branch (due to this commit), which I reverted too now. TODO: Update Shadow sources to latest release.