urdf_to_collada:

[facontidavide]

I get the following errors and I can't find the error. The command used is

rosrun collada_urdf urdf_to_collada ./input.urdf ./out.dae

I/O error : No such file or directory
I/O error : No such file or directory
error : xmlNewTextWriterFilename : cannot open uri

My system is Ubuntu 14.04, 64bits, ROS Indigo. ROS Answer didn't help much :(

[corb555]

I have the same issue (also the same setup). I dug into this a bit. It seems that when collada_urdf convert() is finished, the URI for the document isnt set. _doc->getDocumentURI()->getURI() returns a blank which causes the I/O error. I'm still trying to track down why this fails, but the DAE code is pretty convoluted.

[skohlbr]

I confirm this also happens for me using robot_model installed from .debs, Ubuntu 14.04, AMD64, ROS Indigo. On the same machine running ROS Hydro and a .deb install, I can successfully use urdf_to_collada to convert models.

[randvoorhies]

I'm having the same issue with the .deb install of Indigo on 14.04.

[wjwwood]

I built the latest version of collada_urdf on my Mac and tried a few example .urdf files and could not reproduce this issue:

william@dosa /tmp/robot_model_issue_89
% ./devel/lib/collada_urdf/urdf_to_collada ./src/robot_model/urdf/test/one_link.urdf test.dae

Document successfully written to test.dae

william@dosa /tmp/robot_model_issue_89
% ./devel/lib/collada_urdf/urdf_to_collada ./src/robot_model/urdf/test/two_links_one_joint.urdf test.dae

Document successfully written to test.dae

Can one of you make sure this is still and issue and if it is, what version of collada_urdf you are using?

Further more, if one of you could provide me with an .urdf that fails for you (in case that matters) and the version of assimp installed on your computer.

Thanks.

[umassrobotics]

I am still having this problem, on ubuntu 14.04 ros indigo.

Using the current deb package, and then using the source check out of robot_model produced the same issue.

/home/jordan/indigo/moveit_ws/devel/lib/collada_urdf/urdf_to_collada ~/indigo/moveit_ws/devel/lib/collada_urdf/nao.urdf nao.dae
I/O error : No such file or directory
I/O error : No such file or directory
error : xmlNewTextWriterFilename : cannot open uri

Document successfully written to nao.dae

I am using the urdf from https://github.com/ros-naoqi/nao_robot/tree/master/nao_description/urdf/naoV40_generated_urdf called nao.urdf.

I have tried running this on two different machines, both with ubuntu 14.04 ros indigo and collada

I was ultimately successful in converting my urdf, by finding a machine still running 12.04 with ros hydro, and the tool completed successfully.

[auldwin]

I have this problem as well. I will try umassrobotics's solution. I'm currently running Ubuntu 14.04, Intel 64, ROS Indigo.

Update: Working after I installed 12.04 with ros hydro as umassrobotics suggested.

[130s]

I randomely selected a commit 109d635 (Jun 2014) to test and the error still happens on Indigo. With a brief googling I suspect this issue might be rising from an upstream library libxml2; this forked repository tells the exact possible location the error message is returned from.

On Hydro where the command works fine for me:

$ dpkg $ dpkg -p libxml2|grep Ver
Version: 2.9.1+dfsg1-3ubuntu4.4
-p libxml2|grep Ver
Version: 2.7.8.dfsg-5.1ubuntu4.11

On Indigo (I get the same error):

$ dpkg -p libxml2|grep Ver
Version: 2.9.1+dfsg1-3ubuntu4.4

[simonschmeisser]

+1

[davetcoleman]

I've run into this same issue, latest collada_urdf built from source, assimp 3.0~dfsg-2, using an in-house URDF

[k-okada]

me too, it did not output dae file on deb version and the program did not finished for one build from source. gdb tell us

Starting program: /home/k-okada/catkin_ws/ws_jsk_model_tools/devel/lib/collada_urdf/urdf_to_collada /tmp/pr2.6560.urdf pr2.dae
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
^C
Program received signal SIGINT, Interrupt.
0x00007ffff022db4c in ?? () from /lib/x86_64-linux-gnu/libpcre.so.3
(gdb) where
#0  0x00007ffff022db4c in ?? () from /lib/x86_64-linux-gnu/libpcre.so.3
#1  0x00007ffff022edee in ?? () from /lib/x86_64-linux-gnu/libpcre.so.3
#2  0x00007ffff0234497 in pcre_compile2 () from /lib/x86_64-linux-gnu/libpcre.so.3
#3  0x00007ffff09e938c in pcrecpp::RE::Compile(pcrecpp::RE::Anchor) () from /usr/lib/x86_64-linux-gnu/libpcrecpp.so.0
#4  0x00007ffff09e9519 in pcrecpp::RE::Init(std::string const&, pcrecpp::RE_Options const*) () from /usr/lib/x86_64-linux-gnu/libpcrecpp.so.0
#5  0x00007ffff09e9593 in pcrecpp::RE::Init(char const*, pcrecpp::RE_Options const*) () from /usr/lib/x86_64-linux-gnu/libpcrecpp.so.0
#6  0x00007ffff31fd7e9 in cdom::parseUriRef(std::string const&, std::string&, std::string&, std::string&, std::string&, std::string&) ()
   from /usr/lib/libcollada-dom2.4-dp.so.0
#7  0x00007ffff31ff50b in daeURI::set(std::string const&, daeURI const*) () from /usr/lib/libcollada-dom2.4-dp.so.0
#8  0x00007ffff31ff66d in daeURI::daeURI(DAE&, std::string const&, bool) () from /usr/lib/libcollada-dom2.4-dp.so.0
#9  0x00007ffff6f3c438 in DAE::DAE(daeDatabase*, daeIOPlugin*, char const*) () from /home/k-okada/catkin_ws/ws_jsk_model_tools/devel/lib/libcollada_urdf.so
#10 0x00007ffff6f4143d in collada_urdf::ColladaWriter::ColladaWriter(urdf::Model const&, int) ()
   from /home/k-okada/catkin_ws/ws_jsk_model_tools/devel/lib/libcollada_urdf.so
#11 0x00007ffff6f3ace9 in collada_urdf::WriteUrdfModelToColladaFile(urdf::Model const&, std::string const&) ()
   from /home/k-okada/catkin_ws/ws_jsk_model_tools/devel/lib/libcollada_urdf.so
#12 0x0000000000406ae0 in main ()
(gdb) quit
A debugging session is active.

    Inferior 1 [process 29921] will be killed.

seems something wrong with pcre, I also both case can be solved by using fixed version of collada-dom, to avoid naming collision ? -> rdiankov/collada-dom#13

[davetcoleman]

thanks

[vncprado]

Hi, Is this solution on the current stable version? There is any workaround to get the conversion on Ubuntu 14.04 ROS Indigo?

[simonschmeisser]

just checkout and compile the latest code? It's really not hard

[vncprado]

I compiled from source and when I try to run I got the error:

    urdf_to_collada': double free or corruption (fasttop): 0x0000000002287d20 ***
    Aborted (core dumped)

But the dae file generated seems to work.

[k-okada]

could you provide your urdf file so that we can reproduce and try to fix
them?

◉ Kei Okada

On Thu, May 21, 2015 at 1:04 AM, Vinicius Prado da Fonseca <
notifications@github.com> wrote:

I compiled from source and when I try to run I got the error:

urdf_to_collada': double free or corruption (fasttop): 0x0000000002287d20 ***
Aborted (core dumped)

But the dae file generated seems to work.

—
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#89 (comment).

[vncprado]

my URDF file:

[mdrx-io]

I'm still having this problem with my URDF using the current HEAD of indigo-devel (19ac39a). If I go back to the commit with @isucan 's original fix (4ea3517) then it works just fine. So it looks like we have a regression here.

Here's my URDF if it helps: http://pastebin.com/9jTWLiy5

[k-okada]

As I posted http://lists.ros.org/lurker/message/20151003.101659.374d7c34.en.html,
collada-dom 2.4.4 wlil solve this problem. I have tested with @crunchex 's urdf file and get folloiwng output. Is it ok for you?

k-okada@kokada-t440s:/tmp/collada$ aptitude show collada-dom-dev
Package: collada-dom-dev                 
State: installed
Automatically installed: yes
Version: 2.4.4.0-ubuntu1~trusty1
Priority: optional
Section: libs
Maintainer: OpenRAVE Testing (Testing and Releasing of OpenRAVE Packages) <openrave.testing@gmail.com>
Architecture: amd64
Uncompressed Size: 8,192 
Depends: collada-dom2.4-dp-dev
Conflicts: collada-dom-dev
Description: collada-dom 2.4.4 C++ headers and build tools
 The COLLADA Document Object Model (DOM) is an application programming interface (API) that provides a C++ object representation of a
 COLLADA XML instance document. Contact a project admin to become a developer!

k-okada@kokada-t440s:/tmp/collada$ rosrun collada_urdf urdf_to_collada hoge.urdf hoge.dae
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964492.714631282]: failed to load resource package://up1_description/meshes/base/base.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964492.799638646]: failed to load resource package://up1_description/meshes/dual_arm/armroot.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964492.889216640]: failed to load resource package://up1_description/meshes/dual_arm/armlink1.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964492.985602930]: failed to load resource package://up1_description/meshes/dual_arm/armlink2.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964493.081540917]: failed to load resource package://up1_description/meshes/dual_arm/armlink3.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964493.173859721]: failed to load resource package://up1_description/meshes/dual_arm/armlink4.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964493.271179273]: failed to load resource package://up1_description/meshes/dual_arm/armlink5.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964493.370392584]: failed to load resource package://up1_description/meshes/dual_arm/finger.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964493.467844487]: failed to load resource package://up1_description/meshes/dual_arm/finger.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964493.563904680]: failed to load resource package://up1_description/meshes/base/wheel.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964493.658870480]: failed to load resource package://up1_description/meshes/base/wheel.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964493.755435660]: failed to load resource package://up1_description/meshes/base/wheel.stl
[rospack] Error: package 'up1_description' not found
[librospack]: error while executing command
[ WARN] [1444964493.851723047]: failed to load resource package://up1_description/meshes/base/wheel.stl

Document successfully written to hoge.dae

[atenpas]

@k-okada: How were you able to install collada-dom 2.4.4.0 on Ubuntu 14.04? It seems that ROS Indigo comes with collada-dom 2.4.3. I've installed collada-dom 2.4.4 from source but ROS still seems to use 2.4.3.

[k-okada]

you can download them from
https://launchpad.net/~openrave/+archive/ubuntu/release/+build/8082564
I also added this to the list, hope they will copy this to the
package.ros.org soon! ->

https://docs.google.com/document/d/1DPZuBDyUyOVNkKCOtwpo-nxGba7aSJdvP6ncqRZOBEU/edit#

◉ Kei Okada

On Wed, Dec 9, 2015 at 5:34 AM, atenpas notifications@github.com wrote:

@k-okada https://github.com/k-okada: How were you able to install
collada-dom 2.4.4.0 on Ubuntu 14.04? It seems that ROS Indigo comes with
collada-dom 2.4.3. I've installed collada-dom 2.4.4 from source but ROS
still seems to use 2.4.3.

—
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#89 (comment).

[LeonRobot]

you can just input sudo apt-get install ros-indigo-collada-urdf

it works for me