Cannot load URDF model meshes into Ign Gazebo and strange renderer behaviour

asked 2022-01-06 11:08:14 -0500

AndPatr gravatar image

Hi, I am currently not able to display my models meshes in Ignition Gazebo and, also, the GUI visualization is behaving strange. My setup is the following:

  • I am using ROS2 and Ignition Fortress
  • I have an xps13 with an integrated Iris620 graphics card
  • I am spawning the robot and starting Ignition through ROS2 launch files

As you can see from the following picture, I am able to spawn the model and its meshes in Gazebo Classic without problems (after having added <gazebo_ros gazebo_plugin_path="${prefix}/lib" gazebo_model_path="${prefix}/.." /> into my package.xml ). image description

Note that also the "custom" ground texture is displaying correctly. On the contrary, on Ignition, I face the following issues:

  • 1) If I try to load my ignition world using my custom ground plane (exactly the same SDF), the result is the following: image description
  • 2) The renderer behaves strangely (I have removed the ground texture): image description image description

    As you see, when I am on top of the ground plane, there are some strange white points flickering (note I have added some clouds). When moving beneath, the situation becomes even worse.

    • 3) Upon loading the model, I get the following errors: image description

In my xacro, the mesh is specified with <geometry> <mesh filename="package://wheebbot/description/meshes/full_no_knee_no_wheels.dae" scale="1.0 1.0 1.0" /> </geometry> but, as you see in the screen, for some reason Ignition is looking for meshes in model://wheebbot/description/etc... . As a side note, Ignition is however able to load the rest of the model (i.e. collisions):

image description

Can someone explain to my why I am getting this strange rendering behaviour and why I am not able to load my meshes? Thanks in advance

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