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Trying to understand RViz mesh color bug
Raw
pub.py
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Vector3
from visualization_msgs.msg import Marker, MarkerArray
from std_msgs.msg import ColorRGBA
id_counter = 0
offset = 5
pose_start = 0
def update_marker_stamp(marker):
marker.header.stamp = rospy.Time.now()
def create_mesh_marker(mesh_path, frame_id, use_mat=True):
global id_counter, offset, pose_start
marker = Marker()
marker.id = id_counter
marker.type = marker.MESH_RESOURCE
marker.header.frame_id = frame_id
marker.mesh_resource = mesh_path
marker.mesh_use_embedded_materials = use_mat
marker.frame_locked = True
marker.scale = Vector3(1, 1, 1)
marker.pose.orientation.w = 1
marker.pose.position.x = pose_start
id_counter += 1
pose_start += offset
return marker
# =====================================================================================
# The COLLADA file contains two meshes: a red cube and a sphere with chessboard texture
# =====================================================================================
# Mesh 1: use_embedded_materials=False, color=(0,0,0,1)
# ----> expected: Black Cube and Black Sphere
mesh1 = create_mesh_marker('file:///home/ejalaa/Dev/quick/pub_dae_rviz/test.dae', 'world', False)
mesh1.color.a = 0.5
# Mesh 2: use_embedded_materials=False, color=(0,0,1,1) (=blue)
# ----> expected: Blue Cube, Blue Sphere
mesh2 = create_mesh_marker('file:///home/ejalaa/Dev/quick/pub_dae_rviz/test.dae', 'world', False)
mesh2.color = ColorRGBA(0,0,1,0.5)
# Mesh3: use_embedded_materials=True, color=(0,0,0,0)
# ----> expected: Red Cube, Sphere with Chessboard
mesh3 = create_mesh_marker('file:///home/ejalaa/Dev/quick/pub_dae_rviz/test.dae', 'world', True)
mesh3.color = ColorRGBA(0,0,0,0)
# Mesh4: use_embedded_materials=True, color=(0,0,0,0.5)
# ----> expected: Red Cube, Sphere with Chessboard
mesh4 = create_mesh_marker('file:///home/ejalaa/Dev/quick/pub_dae_rviz/test.dae', 'world', True)
mesh4.color = ColorRGBA(0,0,0,1)
# Mesh5: use_embedded_materials=True, color=(0,0,1,0)
# ----> expected: Red Cube, Sphere with chessboard
mesh5 = create_mesh_marker('file:///home/ejalaa/Dev/quick/pub_dae_rviz/test.dae', 'world', True)
mesh5.color = ColorRGBA(0,0,1,0)
# Mesh6: use_embedded_materials=True, color=(0,0,1,1)
# ----> expected: Purple Cube, Sphere with chessboard tinted Blue
mesh6 = create_mesh_marker('file:///home/ejalaa/Dev/quick/pub_dae_rviz/test.dae', 'world', True)
mesh6.color = ColorRGBA(0,0,1,0.5)
# ================================================================================
# Node publication
# ================================================================================
rospy.init_node('pub_rviz_marker')
rate = rospy.Rate(1)
pub = rospy.Publisher('markers', MarkerArray, queue_size=1)
markers = MarkerArray()
markers.markers = [mesh1, mesh2, mesh3, mesh4, mesh5, mesh6]
while not rospy.is_shutdown():
for marker in markers.markers:
update_marker_stamp(marker)
pub.publish(markers)
rate.sleep()
Raw
test.dae
This file has been truncated, but you can view the full file.
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.80.48 commit date:2019-03-13, commit time:00:20, hash:bf9904ec8018</authoring_tool>
</contributor>
<created>2019-05-06T15:31:26</created>
<modified>2019-05-06T15:31:26</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_effects>
<effect id="Material_002-effect">
<profile_COMMON>
<newparam sid="chessboard_colored_jpg-surface">
<surface type="2D">
<init_from>chessboard_colored_jpg</init_from>
</surface>
</newparam>
<newparam sid="chessboard_colored_jpg-sampler">
<sampler2D>
<source>chessboard_colored_jpg-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<lambert>
<diffuse>
<texture texture="chessboard_colored_jpg-sampler" texcoord="UVMap"/>
</diffuse>
<reflectivity>
<float sid="specular">0.5</float>
</reflectivity>
</lambert>
</technique>
</profile_COMMON>
</effect>
<effect id="Material_001-effect">
<profile_COMMON>
<newparam sid="chessboard_jpg-surface">
<surface type="2D">
<init_from>chessboard_jpg</init_from>
</surface>
</newparam>
<newparam sid="chessboard_jpg-sampler">
<sampler2D>
<source>chessboard_jpg-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<lambert>
<diffuse>
<texture texture="chessboard_jpg-sampler" texcoord="UVMap"/>
</diffuse>
<reflectivity>
<float sid="specular">0.5</float>
</reflectivity>
</lambert>
</technique>
</profile_COMMON>
</effect>
<effect id="Material-effect">
<profile_COMMON>
<technique sid="common">
<lambert>
<diffuse>
<color sid="diffuse">0.8000001 0 0.00131331 1</color>
</diffuse>
<reflectivity>
<float sid="specular">0.5</float>
</reflectivity>
</lambert>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_images>
<image id="chessboard_colored_jpg" name="chessboard_colored_jpg">
<init_from>chessboard_colored.jpg</init_from>
</image>
<image id="chessboard_jpg" name="chessboard_jpg">
<init_from>chessboard.jpg</init_from>
</image>
</library_images>
<library_materials>
<material id="Material_002-material" name="Material.002">
<instance_effect url="#Material_002-effect"/>
</material>
<material id="Material_001-material" name="Material.001">
<instance_effect url="#Material_001-effect"/>
</material>
<material id="Material-material" name="Material">
<instance_effect url="#Material-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Sphere_001-mesh" name="Sphere.001">
<mesh>
<source id="Sphere_001-mesh-positions">
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