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2016-05-24 16:16:43 -0500 commented answer Xacro model spawn issues

Well that looks like your xacro files are not well formed. Try running the following command and post the results: "rosrun xacro xacro.py $(find yumi_description)/urdf/yumi.urdf.xacro" If you get an error message read through it and it should tell you where you have the problem in the model description.

2016-05-22 15:52:20 -0500 commented question Spawn multiple models in specific sequence

I'm already doing that and also waiting for a second before retrying, but unfortunately that doesn't help, since the important model sometimes doesn't seem to load at all. I'm guessing it's because the spawn_model node doesn't like to be called twice at the same time, but that's just a guess.

2016-05-21 06:51:08 -0500 asked a question Spawn multiple models in specific sequence

I have a launch file with which I'm able to spawn multiple models into gazebo. My Problem is, that I need a specific loading sequence. Meaning, that I want the last model to only load, when the other ones have already loaded.

This is needed because the last model to be loaded, has a plugin which tries to get a pointer to the other models, but fails, since they are sometimes not loaded.

How would I go about doing this?

2016-05-21 06:43:59 -0500 answered a question Xacro model spawn issues

I'm not entirely sure if that is your intention, but you are using "yumi.xacro" as the model.

"yumi.xacro" only has definitions for macros in it and no real models.

I believe you meant to use "yumi.urdf.xacro", which has the actual models in it and not only macro definitions.

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2016-04-26 10:54:35 -0500 commented question Is there an easy way to measure the distance between two meshes?

Hm... Then just some other questions. Do you know of any explanations on how these meshes/submeshes are stored? Since fcl needs a std::vector<vector3> with the location of all vertices and a std::vector<vector3> with the indices of all vertices for all triangles (vector3 being a 3-dim vector of floats). Also, do the meshes change from simulation step to simulation step or is it only the transform of the meshes?

2016-04-25 11:52:31 -0500 commented question Is there an easy way to measure the distance between two meshes?

I'm looking for the shortest distance between two solids. The problem is that you need to get the meshes for all collision elements of a link, then get all the submeshes, then get the vertices of those together with the triangles and then you are able to feed that to fcl. Unfortunately I am not sure what the submeshes represent. Are those the faces? And if you have the vertices of the submeshes could there be duplicates in the total mesh, since multiple faces can use the same vertex?

2016-04-25 11:40:43 -0500 asked a question Is there an easy way to measure the distance between two meshes?

Like the title says, I'm looking for an easy way to calculate the distance between two meshes.

The meshes are the collision elements of two links.

Is there an easy way to implement this or do I have to use the flexible collision library (fcl), extract the meshes from all the links and then feed that to fcl?

I can't really believe that there is no implementation of this already, but I couldn't find anything.