学习笔记46--urdf引用stl,产生一些报错及解决

环境:ubuntu16.04 ros-kinetic gazebo7.16

来源:编写urdf时候,引用了stl文件;利用rosrun rviz rviz 启动rviz查看机器人时候,发生以下黄色警告:

[ WARN] [1589780336.123195128, 85.771000000]: The STL file 'package://aaa/meshes/aaa_01/aaa_01.STL' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.

解决方式:
在运行启动urdf的launch前,终端输入

sed -i 's/^solid/dilos/'  路径/aaa_01.STL

该指令作用是,将stl的solid替换为robot形式(几个月前记录的,忘了哪里解析的).
然后正常运行加载urdf的launch,然后利用rosrun rviz rviz打开rviz查看机器人,上面的警告就没了.

个人感觉,这个警告对rviz查看机器人状态影响不大,如果有强迫症的同学可以尝试使用.

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