Project scenario:
Beginner ROS2, want to display urdf model in RViz2. The .urdf file references the external meshes folder.
Problem Description
After accessing the robot description topic in RViz, the following error occurs
Cause Analysis:
According to the error description, it should be that the files in the meshes have not been correctly imported into the environment variables.
Check whether the meshes file in the install/pkg/share folder is displayed correctly under the workspace.
It was found that the visual and collision folders did not exist.
Therefore, we need to modify the setup.py file to include it correctly.
solution:
The mesh import in the urdf file should use the following format:
<mesh filename="package://webots_ros2_ur_demo/meshes/visual/base.dae"/>
rather than <mesh filename="file://$(find ur5_pick_and_place)/meshes/visual/base.dae"/>a format such as .
Amend the setup.py file to add the following to the data_files parameter:
('share/' + package_name + '/meshes/visual', [
'meshes/visual/base.dae',
'meshes/visual/forearm.dae',
'meshes/visual/shoulder.dae',
'meshes/visual/upperarm.dae',
'meshes/visual/wrist1.dae',
'meshes/visual/wrist2.dae',
'meshes/visual/wrist3.dae',
]),
('share/' + package_name + '/meshes/collision', [
'meshes/collision/base.stl',
'meshes/collision/forearm.stl',
'meshes/collision/shoulder.stl',
'meshes/collision/upperarm.stl',
'meshes/collision/wrist1.stl',
'meshes/collision/wrist2.stl',
'meshes/collision/wrist3.stl',
]),
The result is as follows:
