urdf model is not able to be loaded by gzweb

[osrf-migration]

Original report (archived issue) by Xu Tao (Bitbucket: Xu Tao).

The original report had attachments: robot.png

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I have a spawned robot model in roslaunch file, the robot model is in “.urdf.xcaro“ files. First, I converted the urdf.xacro file to urdf file and changed the “package://” to “model:// “ in the urdf file. Then I copied my model folder in “gzweb/http/client/assets” folder, a “model.config” file is also added with “<sdf version=1.4">rb1_base_std.urdf“. Testing it, I see that in gzweb my robot loses the shape, it should look like a turtelbot, but now it is as shown in the picture, it seems that the mesh files are not linked with the model. Furthermore, checking the output of “npm run deploy --- -m local“ , I have seen that gzweb doesn't process the “.urdf“ file (I don't see the name of the file among the ones listed in the output).

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[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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I wouldn't expect the robot to look like that if it were a problem with the URDF though. It seems to be more of a problem reading the underlying mesh file (collada / obj / stl). You could try loading a simple SDF with just the mesh you have to see if the problem persists. Also, have you checked that it is loaded properly with gzclient (i.e. gazebo)?

[osrf-migration]

Original comment by Xu Tao (Bitbucket: Xu Tao).

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Hi Louise, Thanks for your reply. I also run the gazebo, and the robot model is fine in gzclient. And I tried to convert the urdf file to sdf file, I saw in the output of “npm run deploy --- -m local“, it processes the .sdf file, but the model still looks like in the same way.

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[newcanopies]

Hi @chapulina

can URDF descriptions be loaded in GzWeb as of now?

if not,
would changing the joint_states of a URDF in Gazebo, propagate to the SDF equivalent loaded in GzWeb?

[chapulina]

can URDF descriptions be loaded in GzWeb as of now?

See #209