Mesh with no faces created for small cylinders

[pseudopresence]

We encountered this issue when attempting to convert the Robotiq hand model from DRCSim using urdf_to_collada. If a cylinder element is smaller than 0.01, no faces are created, and urdf_to_collada will subsequently crash. From looking at the code in mesh_operations.cpp, the mesh generation for cone objects would be prone to the same issue.

The simplest fix is probably to enforce a sensible minimum for unsigned int tot.

Here is a small example, test with rosrun collada_urdf urdf_to_collada test.urdf test.dae.

<robot name="my_robot">
  <link name="my_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.001" length="0.5"/>
      </geometry>
    </collision>
  </link>
</robot>

[corot]

This can be closed, right?

[jacquelinekay]

Agreed, this issue can be closed. Some maintainers like to leave the issue open until the version with the fix is released into rosdistro.

Speaking of which, @davetcoleman etc., when can we expect a release of this package? I could do one if I was added to the ros-planning org.

[davetcoleman]

I do not know, I have not been asked to do package releases, only @rethink-imcmahon and @130s. Overall ros-planning is lacking leadership IMHO

[jacquelinekay]

Gotcha. I'll see what I can do :)

[mikeferguson]

This looks like a pretty trivial change since our last release -- pushing a new release now

[mikeferguson]

released into indigo + jade in 0.4.4

[jacquelinekay]

thanks @mikeferguson!