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Robot: Report mesh loading issues #744

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merged 3 commits into from
Sep 17, 2021
Merged

Robot: Report mesh loading issues #744

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Robot: Report mesh loading issues
ahcorde Aug 17, 2021
a9a8460
error as an attribute of the class
ahcorde Sep 17, 2021
7f3eebc
suggestions
ahcorde Sep 17, 2021
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1 change: 1 addition & 0 deletions rviz_common/src/rviz_common/properties/property_tree_with_help.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,7 @@ void PropertyTreeWithHelp::showHelpForProperty(const Property * property)
if (property) {
QString body_text = property->getDescription();
QString heading = property->getName();
body_text.replace("\n", "<br>");
QString html = "<html><body><strong>" + heading + "</strong><br>" +
body_text + "</body></html>";
help_->setHtml(html);
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6 changes: 6 additions & 0 deletions rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp
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Expand Up @@ -151,6 +151,7 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC RobotLink : public RobotElementBaseClass
Ogre::SceneNode * getVisualNode() const {return visual_node_;}
Ogre::SceneNode * getCollisionNode() const {return collision_node_;}
Robot * getRobot() const {return robot_;}
const std::string getGeometryErrors() const;

// get the meshes vector to be used in robot_test.cpp
std::vector<Ogre::Entity *> getVisualMeshes() {return visual_meshes_;}
Expand Down Expand Up @@ -189,6 +190,9 @@ private Q_SLOTS:
Ogre::MaterialPtr & material_for_link, const urdf::VisualSharedPtr & visual) const;

void createCollision(const urdf::LinkConstSharedPtr & link);

void addError(const char * format, ...);

void createVisual(const urdf::LinkConstSharedPtr & link);
void createMass(const urdf::LinkConstSharedPtr & link);
void createInertia(const urdf::LinkConstSharedPtr & link);
Expand Down Expand Up @@ -269,6 +273,8 @@ private Q_SLOTS:
Ogre::MaterialPtr color_material_;
bool using_color_;

std::string error;

friend class RobotLinkSelectionHandler;
};

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13 changes: 13 additions & 0 deletions rviz_default_plugins/src/rviz_default_plugins/displays/robot_model/robot_model_display.cpp
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Expand Up @@ -49,6 +49,7 @@
#include "rviz_common/properties/string_property.hpp"

#include "rviz_default_plugins/robot/robot.hpp"
#include "rviz_default_plugins/robot/robot_link.hpp"
#include "rviz_default_plugins/robot/tf_link_updater.hpp"

namespace rviz_default_plugins
Expand Down Expand Up @@ -280,6 +281,18 @@ void RobotModelDisplay::display_urdf_content()

setStatus(StatusProperty::Ok, "URDF", "URDF parsed OK");
robot_->load(descr);
std::stringstream ss;
for (const auto & name_link_pair : robot_->getLinks()) {
const std::string err = name_link_pair.second->getGeometryErrors();
if (!err.empty()) {
ss << "\n• for link '" << name_link_pair.first << "':\n" << err;
}
}
if (ss.tellp()) {
setStatus(
StatusProperty::Error, "URDF",
QString("Errors loading geometries:").append(ss.str().c_str()));
}
updateRobot();
}

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30 changes: 27 additions & 3 deletions rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp
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Expand Up @@ -358,6 +358,25 @@ RobotLink::~RobotLink()
delete robot_element_property_;
}

void RobotLink::addError(const char * format, ...)
{
char buffer[256];
va_list args;
va_start(args, format);
vsnprintf(buffer, sizeof(buffer), format, args);
va_end(args);

if (!error.empty()) {
error.append("\n");
}
error.append(buffer);
}

const std::string RobotLink::getGeometryErrors() const
{
return error;
}

void RobotLink::setRobotAlpha(float a)
{
robot_alpha_ = a;
Expand Down Expand Up @@ -643,19 +662,24 @@ Ogre::Entity * RobotLink::createEntityForGeometryElement(
static_cast<float>(mesh.scale.y),
static_cast<float>(mesh.scale.z));

std::string model_name = mesh.filename;
const std::string & model_name = mesh.filename;

try {
rviz_rendering::loadMeshFromResource(model_name);
entity = scene_manager_->createEntity(entity_name, model_name);
if (rviz_rendering::loadMeshFromResource(model_name) == nullptr) {
addError("Could not load mesh resource '%s'", model_name.c_str());
} else {
entity = scene_manager_->createEntity(entity_name, model_name);
}
} catch (Ogre::InvalidParametersException & e) {
RVIZ_COMMON_LOG_ERROR_STREAM(
"Could not convert mesh resource '" << model_name << "' for link '" << link->name <<
"'. It may be an empty mesh: " << e.what());
addError("Could not convert mesh resource '%s': %s", model_name.c_str(), e.what());
} catch (Ogre::Exception & e) {
RVIZ_COMMON_LOG_ERROR_STREAM(
"could not load model '" << model_name << "' for link '" << link->name + "': " <<
e.what());
addError("Could not load model '%s': %s", model_name.c_str(), e.what());
}
break;
}
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