Multiple Visuals Per Link with Different Colours
Hi all,
Hopefully there is a simple answer to this. I have created a 'robot' using URDF with 1 link but two visuals using the following code in Gazebo 9 and XML V1.0.
<?xml version="1.0" ?>
<robot name="myrobot">
<link name="base_link">
<inertial>
<mass value="1.5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.008" ixy="0" ixz="0" iyy="0.015" iyz="0" izz="0.017"/>
</inertial>
<collision name="base_link_collision">
<origin rpy="0 0 0" xyz="0 0 0.11492"/>
<geometry>
<box size="0.47 0.47 0.23"/>
</geometry>
</collision>
<visual name="base_link_visual">
<origin rpy="0 0 0" xyz="0 0 0.19492"/>
<geometry>
<box size="0.27 0.27 0.23"/>
</geometry>
</visual>
<visual name="front_left_leg_visual">
<origin rpy="0 0 0" xyz="0.123 0.22 0.08492"/>
<geometry>
<cylinder length="0.17" radius="0.05"/>
</geometry>
</visual>
</link>
<gazebo reference="base_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
</robot>
I was hoping that the gazebo reference captures all visuals inside a link by reference to the link. However, the output in gazebo is below.
Why are there two different colors generated?
Asked by adcurry on 2020-06-12 22:30:17 UTC
Comments
You can find the answer here.
Asked by nlamprian on 2020-06-12 23:07:19 UTC
Hey this worked for me! Thanks a lot!! How do I mark your answer as correct?
Asked by adcurry on 2020-06-12 23:29:53 UTC