naturerobots / mesh_tools Goto Github PK

Hi. I'm interested in using this package as part of a project and wondering what the easiest method of installing is. Is there a binary I can download, or would I need to build the project from source?

Thanks!

It would be nice if this repo had a license file. Some of this code looks attractive in my work, but without a licence it is not easy to make decisions about whether it should be used or not. Thanks.

I am getting the following error by adding the plugin in RVIZ

[ERROR] [1659346788.464576399]: PluginlibFactory: The plugin for class 'rviz_map_plugin/Mesh' failed to load. Error: Failed to load library /home/rnd/catkin_ws/devel/lib//librviz_map_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/rnd/catkin_ws/devel/lib/libhdf5_map_io.so: undefined symbol: _ZN3MPI3Win4FreeEv)

Anyone has an idea??

It appears like the ability to display a texture in a TriangleMesh message isn't yet implemented: https://github.com/uos/mesh_tools/blob/master/rviz_mesh_plugin/src/trianglemesh_visual.cpp#L205

Are there any plans for this?

Thanks

1. By cloning manually HighFive in ext/HightFive I might have introduced the following problem:
   When running catkin build, I have:

 #include <CL/cl2.hpp>
          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/rviz_map_plugin.dir/src/ClusterLabelPanel.cpp.o] Error 1
In file included from ...

and also

fatal error: lvr2/io/PlutoMapIO.hpp: No such file or directory
 #include <lvr2/io/PlutoMapIO.hpp>
          ^~~~~~~~~~~~~~~~~~~~~~~~

What dependencies am I missing? Thanks

imageData never gets deleted after this copy:

  uchar* imageData = new uchar[dataSize];
  std::memcpy(imageData, &data[0], dataSize);

This causes a memory leak when visualizing textures on MeshGeometryStamped topics.

It would be great if you could provide a data sample to quickly test your package.
Something similar to what you show in the videos

It seems weird that it is not easy to display a mesh in RViz without an external plugin or hacking a URDF file to do it for you.

Then I found this project that looks like everything I need and more. Great work here. Is there any effort in place to get it working in Ros2 with Rviz2? As I understand, RViz has not changed much in porting to Ros2.

I am having the warnings from RVIZ:
[ WARN] [1659937631.907037001]: Can't load image into texture material, material does not exist!

Do you have an idea where the problem could be?

See http://docs.ros.org/en/jade/api/catkin/html/howto/format2/cpp_msg_dependencies.html

fatal error: mesh_msgs/TriangleIndices.h: No such file or directory

When building the package I did a simple git clone but I had the error that ext/HighFive/include is empty... I realized it was a submodule and build it manually by cloning HighFive in the desired location. It would be great to at least document how to install this package.
Also do you plan to offer it as an ros-melodic-mesh-tools package?

Your rosdep keys appear to not work on noetic. unless I'm missing something. An attempt to install mesh-tools with the command:
sudo apt install ros-noetic-mesh-tools
also returned the result

Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-noetic-mesh-tools : Depends: ros-noetic-rviz-mesh-plugin but it is not installable
E: Unable to correct problems, you have held broken packages.

Am I missing a repository? Are there any installation instructions for this source?

Selecting previously unselected package ros-melodic-hdf5-map-io.
Preparing to unpack .../35-ros-melodic-hdf5-map-io_1.0.0-2bionic.20200429.182051_amd64.deb ...
Unpacking ros-melodic-hdf5-map-io (1.0.0-2bionic.20200429.182051) ...
dpkg: error processing archive /tmp/apt-dpkg-install-D2PVZ2/35-ros-melodic-hdf5-map-io_1.0.0-2bionic.20200429.182051_amd64.deb (--unpack):
trying to overwrite '/opt/ros/melodic/include/highfive/H5Attribute.hpp', which is also in package ros-melodic-lvr2 19.12.1-1bionic.20200107.200812

...

Unpacking ros-melodic-mesh-tools (1.0.0-2bionic.20200506.151004) ...
Errors were encountered while processing:
/tmp/apt-dpkg-install-D2PVZ2/35-ros-melodic-hdf5-map-io_1.0.0-2bionic.20200429.182051_amd64.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

Hi, thanks for your great work.

I've already used MeshGeometry(Stamped) to show mesh in rviz. It's perrfect.
However, I encountered difficulties when using Texture. Can you provide some examples to help me?

Thank you very much.

Hi, thanks by these great nodes, really I got impressed by the paper, I think your tools are the starting point to fix so many issues with robotics these days.

I get laser scans with colored pointclouds, and I would like ,apart can use them as you do in your repository (rover), can export the pointcloud+colour+normals, meshes+colour ,or both to external software as Cloud Compare, Meshlab, blender or Unreal Engine, to in example can make maps for Gazebo, Isaac Sim...

In your paper I read you use HDF5 files but I couldn't find any software that can import them, could be possible so it in .ASC format maybe?.

Really I think this should be the fact standard, it is so brilliant.

Thanks!

The current Github workflows run for all branches. Since the workflows are for ROS1 melodic and noetic, they fail when running with the new humble branch.

I propose to change the existing workflows to only run on relevant branches (probably master).

When the ROS2 port on humble nears its completion, we should also look into adding a workflow for it.

Hello, I highly appreciate your work. While replicating your work, I encountered the following issues:

Fatal error: mesh_msgs/GetUUID.h: No such file or directory
Fatal error: mesh_msgs/TriangleIndices.h: No such file or directory
Could you provide the corresponding GetUUID.srv and TriangleIndices.msg files?

The rviz crash after a period of running, give the following error messages

[ WARN] [1667566012.731866799]: OGRE EXCEPTION(4:ItemIdentityException): An object of type 'ManualObject' with name '0_TriangleMesh_0_7476' already exists. in SceneManager::createMovableObject at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreSceneManager.cpp (line 6829)
terminate called after throwing an instance of 'Ogre::ItemIdentityException'
  what():  OGRE EXCEPTION(4:ItemIdentityException): An object of type 'ManualObject' with name '0_TriangleMesh_0_7476' already exists. in SceneManager::createMovableObject at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreSceneManager.cpp (line 6829)

Any suggestion to solve this problem?
Thanks a lot!

Hi,

Thank you for your nice work.

Can you give me some example that how to generate Mesh Map from point cloud? It will be helpful. : )

Hi, thanks your great work.
I am using mesh_tools for visualization.
According to the document:
MeshGeometry (Stamped) Defines the geometric structure of a triangle
mesh with 1.) an array of 3D vectors, which represents vertices in R3, 2.)
an array of indices, in which three indices each define a triangle by referring
220 to the array of vertices (vertex and index buffer), and 3.) an array of vertex
normal vectors.
MeshVertexColors (Stamped) Colors for the vertices are represented by an
array of std msgs/ColorRGBA and linked to a corresponding mesh by a string
representing a UUID.

I create a MeshGeometry ros_msg and a MeshVertexColors ros_msg, and push_back the same size items in them, give them the same UUIDs, however, the rviz says that Received vertex colors, but UUIDs dont match.