Visual Only Links Broken

asked 2020-04-14 16:56:52 -0500

rrklutz gravatar image

updated 2020-04-14 17:09:58 -0500

Hi,

I'm trying to make a cube sdf that has an aruco marker on one of its faces.

img

My first thought was to make an sdf file with two links (one for the cube, and a plane with my material applied) with a fixed joint between the two. The cube link has an inertial element, and a collision element, while the marker is only visual. This produces the correct visual, but I found that it breaks gazebo and subtle ways. For instance, I cannot interactively translate or rotate this model in gazebo. I cannot use the builtin model editor either.

Fine, I'll just use a very thin cube then. This appears to work. I can use all the normal gazebo gui functionality, but this too break in unexpected ways. First, when loading the scene from a world file the material no longer works. More surprisingly, my simulated cameras don't see this link. Is all of this behavior documented somewhere? Must I give every link an inertial and collision element?

Here is my sdf

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