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How many vertices can Gazebo (ODE) handle?

asked 2019-02-11 14:57:53 -0600

mehdi gravatar image

updated 2019-02-11 14:59:39 -0600

I have been trying to load a mesh in gazebo (Meshlab shows it has some 1.5 million vertices), it takes some time but Gazebo can make it but doesn't display everything inside the mesh as some parts are missing.

When I then spawn a simple object (bowl with 600 vertices) on top of one part of the big mesh (a ring shaped table) it just sinks inside the mesh while slowing down until coming out from the other side. I expect it to just stand there as it should when you pot a bowl on a surface. I tried reducing the number of vertices to 200000 with Meshlab but nothing changed.

I couldn't find any documentation about such behavior. I checked the inertia, the center of mass, the overlap between collision and visual model and everything seems fine. I also tried bullet, the behavior was a bit different and the bowl started flying around, ending up on the floor after few minutes. Are there any other details that I am missing?

I am working with Gazebo 9.0.0 and collada meshes that I export from Blender.

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answered 2019-02-18 06:15:05 -0600

ce_guy gravatar image

For the collision problem I think you have just specified a visual tag for your collada mesh but forgot to set a collision tag.

It has to look like this

<model name='test'>
  <link name='test_link'>

    <collision name='collision'>
      <geometry>
        <mesh>
          <uri>model://test_pkg/meshes/test_mesh.dae</uri>
        </mesh>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <mesh>
          <uri>model://test_pkg/meshes/test_mesh.dae</uri>
        </mesh>
      </geometry>
    </visual>

  </link>
</model>

For your other problem I don't have an answer. I don't really know how many vertices can be displayed. I always simplify my meshes in Meshlab. You could use a very nice mesh for visual and a simplified one for collision.

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Asked: 2019-02-11 14:57:53 -0600

Seen: 44 times

Last updated: Feb 18