Fixed URDF mesh materials being overridden by color materials.#187
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jihoonl merged 1 commit intoRobotWebTools:developfrom Jul 27, 2017
Merged
Fixed URDF mesh materials being overridden by color materials.#187jihoonl merged 1 commit intoRobotWebTools:developfrom
jihoonl merged 1 commit intoRobotWebTools:developfrom
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From the develop branch (c36fbdb), this is what the Fetch URDF looks like:
This is because ROS3D.Urdf always uses a color material if a color is specified for the link: https://github.com/RobotWebTools/ros3djs/blob/develop/src/urdf/Urdf.js#L60
Then, that color material is always used for the MeshResource, even if the node already has a material (as discussed in #112 and implemented in #128). I think that change is correct, since we want to support colored meshes.
However, when using meshes in the context of a URDF, maybe we should not use the color material? I think most people want their URDF displays to reflect the mesh material and not some solid color.
This PR produces the following behaviors:
colorMaterialis still used for these links, so the behavior is unchangedAfter making this change, this is what the Fetch URDF looks like:
And here is what two robot marker arrays look like (from the robot_markers demo).