wrong link transformation

[christian-rauch]

I am using a URDF model of a Franka Emika https://github.com/frankaemika/franka_ros which renders fine in RViz but has wrong link transformations in the URDF filter renderer:

My best guess is that there are additional transformations stored in the meshes that are ignored in the URDF renderer.

[liderbo123]

Hello! Could you show me your launch file? When I move the robot, there are some residual point clouds, and I don't know what to do.

[blodow]

Collada might not be supported in its entirety. It seems we're loading the assimp scene wrong in RenderableMesh::fromAssimpScene. I think this is the issue: https://gamedev.stackexchange.com/a/102091

Unfortunately, I don't have time to do that. As a workaround, or if the fix in the link does not work here, a simple hack might be to convert the meshes to a different format and include those in the urdf.

[liderbo123]

@blodow Thank you for your reply! I tried adjusting parameters of “camera offset”, but it had no effect. The residual points still existed.