a small radius cylinder looks bad

[eisoku9618]

I've found that if I set a cylinder radius N[cm] in URDF and convert the URDF to COLLADA with urdf_to_collada of collada_urdf, the output cylinder in COLLADA will be Nth regular prism.

So the appearance of small radius cylinder (e.g. 0.2cm) is not good.

This behavior is originally reported in ros/collada_urdf#20, and this PR will fix the problem.

A small example is below.

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="test" >
  <link name="test_link_1cm">
    <visual>
      <geometry>
        <cylinder length="0.1" radius="0.01"/>
      </geometry>
    </visual>
  </link>

  <joint name="test_joint_1" type="fixed">
    <parent link="test_link_1cm"/>
    <child link = "test_link_2cm"/>
    <origin xyz="0.1 0 0" rpy="0 0 0"/>
  </joint>
  <link name="test_link_2cm">
    <visual>
      <geometry>
        <cylinder length="0.1" radius="0.02"/>
      </geometry>
    </visual>
  </link>

  <joint name="test_joint_2" type="fixed">
    <parent link="test_link_2cm"/>
    <child link = "test_link_3cm"/>
    <origin xyz="0.1 0 0" rpy="0 0 0"/>
  </joint>
  <link name="test_link_3cm">
    <visual>
      <geometry>
        <cylinder length="0.1" radius="0.03"/>
      </geometry>
    </visual>
  </link>

  <joint name="test_joint_3" type="fixed">
    <parent link="test_link_3cm"/>
    <child link = "test_link_4cm"/>
    <origin xyz="0.1 0 0" rpy="0 0 0"/>
  </joint>
  <link name="test_link_4cm">
    <visual>
      <geometry>
        <cylinder length="0.1" radius="0.04"/>
      </geometry>
    </visual>
  </link>

  <joint name="test_joint_4" type="fixed">
    <parent link="test_link_4cm"/>
    <child link = "test_link_5cm"/>
    <origin xyz="0.1 0 0" rpy="0 0 0"/>
  </joint>
  <link name="test_link_5cm">
    <visual>
      <geometry>
        <cylinder length="0.1" radius="0.05"/>
      </geometry>
    </visual>
  </link>
</robot>

rosrun collada_urdf urdf_to_collada test.urdf test.dae
roslaunch urdf_tutorial display.launch model:=test.dae

[eisoku9618]

I would like to use this new feature(?) in the older ros distros (e.g. indigo, jade, kinetic, lunar).
Could you backport this commit?

[rhaschke]

I backported to Kinetic. For older distros we don't release anymore.

[eisoku9618]

OK, thank you for your time.