Having a ROS2 pkg for RViz meshes

[SimoneMic]

Hello,

I was wondering if it would be possible to have an automatic process that outputs a ROS2 pakage for the ergocub URDF and meshes. To be used in the robot_state_publisher and RViz pkgs in ROS2.

The actual model fails to load the meshes on RViz, while it's fine for the robot_state_publisher and the TF2 pakage.

The error message on Rviz:

Errors loading geometries:
• for link 'chest':
Could not load mesh resource 'package://ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl

TFs frames: displayed correctly

I was wondering if there's something already existing for R1, or if anyone has already incurred in this issue and has some tips on how to solve this.
It's mostly a visual thing, so it's not of the maximum importance, but just to point out for discussion.

Thanks!

[lrapetti]

cc @Nicogene

[traversaro]

This can be done by:

• Installing a well-formed package.xml file in <install_prefix>/share/ergoCub
• Install an empty file named ergoCub in <install_prefix>/share/ament_index/resource_index/packages (see https://github.com/robotology/icub-models/blob/master/CMakeLists.txt#L181)
• Add the <install_prefix> path to AMENT_PREFIX_PATH env variable, unless it is not already there (this is the case for the robotology-superbuild install prefix if you sourced the setup.sh script)

See robotology/icub-models#177 and robotology/icub-models#178 for a related issue and PR.

[Nicogene]

Hi @SimoneMic, if you want you can implement what @traversaro suggests and open a PR, otherwise I will do it, but I am not sure when I can handle this

[SimoneMic]

Hi
Sorry for the late reply, I have implemented the solutions on my fork for the demo.
Afterwards we can merge it.

Thanks.

[traversaro]

Great! In the meanwhile it is convenient to have at least the pointer of the releant branches, commit, even if there is no PR. I guess that the branch is https://github.com/SimoneMic/ergocub-software/tree/navigation and the relevant commit are SimoneMic@4fc2f14 and SimoneMic@1baa1a9, right?

[SimoneMic]

Great! In the meanwhile it is convenient to have at least the pointer of the releant branches, commit, even if there is no PR. I guess that the branch is https://github.com/SimoneMic/ergocub-software/tree/navigation and the relevant commit are SimoneMic@4fc2f14 and SimoneMic@1baa1a9, right?

Yes, exactly

[SimoneMic]

Closing since discussed in #83