d435 urdf displays mesh incorrectly

[rongoldman-tri]

Hi. We just added the D435 urdf to our robot model and when it is displayed the camera orientation is off by 90 degrees.

This is showing the camera_link frame and also the camera_right_ir_optical_frame.

By changing line 49 so the roll is ${M_PI} instead of ${M_PI/2} to:

  `<origin xyz="${d435_cam_mount_from_center_offset} 0.0 ${d435_cam_height/2}" rpy="${M_PI} 0 ${M_PI/2}"/>`

it displays properly:

Note the origin tag doesn't seem to affect displaying a box, only the mesh has the problem. Whether roll is pi or pi/2 the display for the box is:

thanks,

-- Ron --

[doronhi]

Hi @rongoldman-tri,
I can't recreate the situation you presented. I run the following command:
roslaunch realsense2_camera view_d435_model.launch

I then Show camera_right_ir_optical_frame and camera_link, set Market Scale to 0.1 and get the following image:

Can you tell what are we doing differently?

[rongoldman-tri]

Thanks for looking into this. The problem was on our side: we had converted the d435.dae mesh to use STL format. The converted STL file introduced the rotation I reported as a bug. Redoing the conversion with MeshLab created a good STL file that preserved the original mesh orientation. So everything is fine & I am closing the issue. Sorry to have bothered you.

-- Ron --

[doronhi]

No problem. Glad it worked out for you.