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How to add a color/material to a STL mesh in an URDF file?

asked 2016-06-23 04:52:50 -0500

pDotGetName gravatar image

I use STL meshes and urdf files and I can't seem to set the material colors in the urdf file. I tried adding material like this (similar to what I would do in an SDF file):

 <gazebo reference="link_name">
   <material>Gazebo/Red</material>
 </gazebo>

or

 <gazebo reference="link_name">
   <material>
     <script>
       <uri>
          file://media/materials/scripts/gazebo.material
       </uri>
       <name>
         Gazebo/Red
       </name>
     </script>
   </material>
 </gazebo>

But it wouldn't work.

So: How can I set material/colours for STL files in an urdf file?

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Was this ever resolved?

plusk01 gravatar imageplusk01 ( 2017-01-05 00:14:26 -0500 )edit

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answered 2016-06-25 10:06:59 -0500

mrslvgg gravatar image

updated 2016-06-27 03:58:16 -0500

You need to define the color separately such as in the file materials.xacro:

  <material name="Orange">
    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
  </material>

Import materials.xacro in your file:

<xacro:include filename="$(find your_robot_description)/urdf/materials.xacro" />

Then you can use the color specifying a material tag for each link, such as:

<link name="$link_name">
  ...
  <visual>
     ...
    <material name="Orange"/>
  </visual>
  ...
</link>

For further information visit: http://gazebosim.org/tutorials/?tut=r...

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Well, that's basically how I do it. But the model doesn't change color even when I switch from Gazebo/White to Gazebo/Orange.

pDotGetName gravatar imagepDotGetName ( 2016-06-27 03:16:01 -0500 )edit

I edited my answer. Check the new method.

mrslvgg gravatar imagemrslvgg ( 2016-06-27 03:59:34 -0500 )edit

Isn't this edit's material for the ROS visualization? I currently have something like this: <visual> ... <material name="Orange"/> </visual> ... <gazebo reference="link"> <material>Gazebo/Orange</material> </gazebo> In RVIZ the color is shown correctly, but in Gazebo it remains white. Could the STL file be somehow broken?

pDotGetName gravatar imagepDotGetName ( 2016-06-27 06:36:21 -0500 )edit
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Asked: 2016-06-23 04:52:50 -0500

Seen: 1,485 times

Last updated: Jun 27 '16