# Revision history [back]

### Models spawn 100x too small

I'm using a slightly modified version of the Robonaut with Gazebo 1.7.1 (and ROS Fuerte). Obviously the Robonaut works fine in previous versions of Gazebo, but in this version, the parts (which use .dae meshes) spawn 100x too small. (It took me forever to notice the tiny robot parts floating in midair and realize that was the problem...) However, it shows up at the proper scale in rviz. I can change all the mesh files to load with scale="100 100 100", and then it appears to be the right size in Gazebo, but it's 100x too big in rviz! Either way, all the joint and link origins appear to be in the correct positions, so the joints are spaced out correctly. Contacts and collisions seem to be calculated based on whatever is showing up in Gazebo.

I also have a URDF model of a table that uses a .dae mesh I made with SketchUp (with the units set to meters). This appears at the correct size in Gazebo, but it's 100x too big in rviz.

What seems especially strange to me is that the Robonaut appeared the correct size in both Gazebo and rviz with previous versions of Gazebo, but now it's incorrect. It also seems strange that it would show up differently in two different programs. Any ideas for what might be going wrong or how to fix it? Could this be a bug with Gazebo 1.7.1?

### Models spawn 100x too small

I'm using a slightly modified version of the Robonaut with Gazebo 1.7.1 (and ROS Fuerte). Obviously the Robonaut works fine in previous versions of Gazebo, but in this version, the parts (which use .dae meshes) spawn 100x too small. (It took me forever to notice the tiny robot parts floating in midair and realize that was the problem...) However, it shows up at the proper scale in rviz. I can change all the mesh files to load with scale="100 100 100", and then it appears to be the right size in Gazebo, but it's 100x too big in rviz! Either way, all the joint and link origins appear to be in the correct positions, so the joints are spaced out correctly. Contacts and collisions seem to be calculated based on whatever is showing up in Gazebo.

I also have a URDF model of a table that uses a .dae mesh I made with SketchUp (with the units set to meters). This appears at the correct size in Gazebo, but it's 100x too big in rviz.

What seems especially strange to me is that the Robonaut appeared the correct size in both Gazebo and rviz with previous versions of Gazebo, but now it's incorrect. It also seems strange that it would show up differently in two different programs. Any ideas for what might be going wrong or how to fix it? Could this be a bug with Gazebo 1.7.1?1.7.1? (I'm inclined to blame Gazebo rather than rviz because everything worked correctly in both programs before.)

### Models spawn 100x too small

I'm using a slightly modified version of the Robonaut with Gazebo 1.7.1 (and ROS Fuerte). Obviously the Robonaut works fine in previous versions of Gazebo, but in this version, the parts (which use .dae meshes) spawn 100x too small. (It took me forever to notice the tiny robot parts floating in midair and realize that was the problem...) However, it shows up at the proper scale in rviz. I can change all the mesh files to load with scale="100 100 100", and then it appears to be the right size in Gazebo, but it's 100x too big in rviz! Either way, all the joint and link origins appear to be in the correct positions, so the joints are spaced out correctly. Contacts and collisions seem to be calculated based on whatever is showing up in Gazebo.

I also have a URDF model of a table that uses a .dae mesh I made with SketchUp (with the units set to meters). This appears at the correct size in Gazebo, Gazebo 1.7.1, but it's 100x too big in rviz.rviz. It's also 100x too big in the Fuerte version of Gazebo.

What seems especially strange to me is that the Robonaut appeared the correct size in both Gazebo and rviz with previous versions of Gazebo, but now it's incorrect. It also seems strange that it would show up differently in two different programs. Any ideas for what might be going wrong or how to fix it? Could this be a bug with Gazebo 1.7.1? (I'm inclined to blame Gazebo rather than rviz because everything worked correctly in both programs before.)1.7.1?

### Models spawn 100x too smallsmall or large

I'm using a slightly modified version of the Robonaut with Gazebo 1.7.1 (and ROS Fuerte). Obviously the Robonaut works fine in previous versions of Gazebo, but in this version, the parts (which use .dae meshes) spawn 100x too small. (It took me forever to notice the tiny robot parts floating in midair and realize that was the problem...) However, it shows up at the proper scale in rviz. I can change all the mesh files to load with scale="100 100 100", and then it appears to be the right size in Gazebo, but it's 100x too big in rviz! Either way, all the joint and link origins appear to be in the correct positions, so the joints are spaced out correctly. Contacts and collisions seem to be calculated based on whatever is showing up in Gazebo.

I also have a URDF model of a table that uses a .dae mesh I made with SketchUp (with the units set to meters). This appears at the correct size in Gazebo 1.7.1, but it's 100x too big in rviz. It's also 100x too big in the Fuerte version of Gazebo.

What seems especially strange to me is that the Robonaut appeared the correct size in both Gazebo and rviz with previous versions of Gazebo, but now it's incorrect. It also seems strange that it would show up differently in two different programs. Any ideas for what might be going wrong or how to fix it? Could this be a bug with Gazebo 1.7.1?

### Models spawn 100x too small or largeat the wrong scale

I'm using a slightly modified version of the Robonaut with Gazebo 1.7.1 (and ROS Fuerte). Obviously the Robonaut works fine in previous versions of Gazebo, but in this version, the parts (which use collada .dae meshes) spawn 100x too small. (It took me forever to notice the tiny robot parts floating in midair and realize that was the problem...) However, it shows up at the proper scale in rviz. I can change all the mesh files to load with The meshes have the following unit tag: scale="100 100 100"<unit name="centimeter" meter="0.01"/>, and then it appears to be the right size in Gazebo, but it's 100x too big in rviz! Either way, all the joint and link origins appear to be in the correct positions, so the joints are spaced out correctly. Contacts and collisions seem to be calculated based on whatever is showing up in Gazebo..

I also have a URDF model of a table that uses a collada .dae mesh I made with SketchUp (with the units set to meters). SketchUp. This appears at the correct size in Gazebo 1.7.1, but it's 100x too big huge in rviz. It's also 100x too big huge in the Fuerte version of Gazebo.Gazebo. The unit tag is <unit meter="0.0254000" name="inch" />.

What seems especially strange This question is related, but I still don't understand why the Robonaut spawned at the correct scale in previous Gazebo versions, and why it still appears at the correct scale in rviz. Is the change in how the programs handle mesh parsing? Which program is in error? Do I have to me is that the Robonaut appeared the correct size in both Gazebo and rviz with previous versions of Gazebo, but now it's incorrect. It also seems strange that it would show up differently in two different programs. Any ideas for what might be going wrong or how to fix it? Could this be a bug with Gazebo 1.7.1?update the units in all the Robonaut mesh files?

### Models spawn at the wrong scale

I'm using a slightly modified version of the Robonaut with Gazebo 1.7.1 (and ROS Fuerte). Obviously the Robonaut works fine in previous versions of Gazebo, but in this version, the parts (which use collada .dae meshes) spawn 100x too small. (It took me forever to notice the tiny robot parts floating in midair and realize that was the problem...) However, it shows up at the proper scale in rviz. The meshes have the following unit tag: <unit name="centimeter" meter="0.01"/>.

I also have a URDF model of a table that uses a collada .dae mesh I made with SketchUp. This appears at the correct size in Gazebo 1.7.1, but it's huge in rviz. It's also huge in the Fuerte version of Gazebo. The unit tag is <unit meter="0.0254000" name="inch" />.

This question is related, but I still don't understand why the Robonaut spawned at the correct scale in previous Gazebo versions, and why it still appears at the correct scale in rviz. Is the change due to an update in how the programs handle Gazebo handles mesh parsing? Which program is in error? Do I have to update the units in all the Robonaut mesh files?

### Models spawn at the wrong scale

I'm using a slightly modified version of the Robonaut with Gazebo 1.7.1 (and ROS Fuerte). Obviously the Robonaut works fine in previous versions of Gazebo, but in this version, the parts (which use collada .dae meshes) spawn 100x too small. (It took me forever to notice the tiny robot parts floating in midair and realize that was the problem...) However, it shows up at the proper scale in rviz. The meshes have the following unit tag: <unit name="centimeter" meter="0.01"/>.

I also have a URDF model of a table that uses a collada .dae mesh I made with SketchUp. This appears at the correct size in Gazebo 1.7.1, but it's huge in rviz. It's also huge in the Fuerte version of Gazebo. The unit tag is <unit meter="0.0254000" name="inch" />.

This question is related, but I still don't understand why the Robonaut spawned at the correct scale in previous Gazebo versions, and why it still appears at the correct scale in rviz. Is the change due to an update in how Gazebo handles mesh parsing? Which program is in error? Do I have to update the units in all the Robonaut mesh files?files and in my table mesh file?